FHWS/Indoor
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added measurement grouping for beacons

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had to change the parameter boundaries of the wifi optimizer to be able to use it for bluetooth... this should be refactored to something more generic..
some minor changes in ble
This commit is contained in:
mail@toni-fetzer.de
2019-06-10 16:57:02 +02:00
parent 8d37e94647
commit 96c63ac3ec
11 changed files with 1020 additions and 661 deletions
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58
sensors/beacon/BeaconProbabilityFree.h
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@@ -14,7 +14,7 @@
#include "BeaconProbability.h"
#include "BeaconMeasurements.h"
#include "model/BeaconModel.h"
#include "../../math/Distributions.h"
#include "../../math/distribution/Normal.h"
#include "../../data/Timestamp.h"
#include "../../floorplan/v2/Floorplan.h"
@@ -29,75 +29,75 @@ class BeaconObserverFree : public BeaconProbability {
private:
const float sigma = 8.0f;
const float sigmaPerSecond = 3.0f;
const float sigma = 10.0f;
const float sigmaPerSecond = 3.0f;
/** the RSSI prediction model */
/** the RSSI prediction model */
BeaconModel& model;
/** the map's floorplan */
Floorplan::IndoorMap* map;
/** the map's floorplan */
Floorplan::IndoorMap* map;
public:
/** ctor */
BeaconObserverFree(const float sigma, BeaconModel& model) : sigma(sigma), model(model) {
}
}
/** provides the probability for a specific point in space */
double getProbability(const Point3& pos_m, const Timestamp curTime, const BeaconMeasurements& obs) const {
double prob = 1.0;
double prob = 1.0;
int numMatchingBeacons = 0;
// process each measured AP
// process each measured AP
for (const BeaconMeasurement& entry : obs.entries) {
// sanity check
Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
// sanity check
Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
// updating the beacons sended txp if available
if(entry.getBeacon().getTXP() != 0.0f){
//TODO: check if this works
model.updateBeacon(entry);
//model.updateBeacon(entry);
}
// get the model's RSSI (if possible!)
// get the model's RSSI (if possible!)
const float modelRSSI = model.getRSSI(entry.getBeacon().getMAC(), pos_m);
// NaN? -> AP not known to the model -> skip
// NaN? -> AP not known to the model -> skip
if (modelRSSI != modelRSSI) {
continue;
}
// the scan's RSSI
const float scanRSSI = entry.getRSSI();
// the scan's RSSI
const float scanRSSI = entry.getRSSI();
// the measurement's age
const Timestamp age = curTime - entry.getTimestamp();
// the measurement's age
const Timestamp age = curTime - entry.getTimestamp();
Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
// sigma grows with measurement age
const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
// sigma grows with measurement age
const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
// update probability
prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
// update probability
prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
++numMatchingBeacons;
}
}
// sanity check
// sanity check
//Assert::isTrue(numMatchingBeacons > 0, "not a single measured Beacon was matched against known ones. coding error? model error?");
return prob;
return prob;
}
}
};