FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

many changes and updates

Browse Source 
- changed the wifi-estimation api
- adjusted test-cases
- worked on grid-bulding and grid-importance
- new walking modules
- fixed some minor issues
This commit is contained in:
FrankE
2016-08-29 19:02:32 +02:00
parent a2c9e575a2
commit a203305628
23 changed files with 505 additions and 251 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
sensors/radio/WiFiGridEstimator.h
View File

@@ -43,13 +43,13 @@ public:
* as nodes only provide a limited number of rssi-entries,
* store only the strongest ones.
*/
template <typename Node> static void estimate(Grid<Node>& grid, WiFiModel& mdl, const std::vector<LocatedAccessPoint> aps) {
template <typename Node> static void estimate(Grid<Node>& grid, WiFiModel& mdl, const std::vector<AccessPoint> aps) {
// sanity checks
Assert::isTrue(Node::getMapAPs().empty(), "there are already some processed APs available!");
// attach the access-points to the shared node-vector
for (const LocatedAccessPoint& ap : aps) {
for (const AccessPoint& ap : aps) {
Node::getMapAPs().push_back(ap);
}
@@ -63,7 +63,7 @@ public:
for (int apIdx = 0; apIdx < (int) aps.size(); ++apIdx) {
// estimate the signal-strength
const float rssi = mdl.getRSSI(aps[apIdx], n.inMeter());
const float rssi = mdl.getRSSI(aps[apIdx].getMAC(), n.inMeter());
// keep it
nodeAPs.push_back(WiFiGridNodeAP(apIdx, rssi));

15
sensors/radio/WiFiGridNode.h
View File

@@ -12,7 +12,7 @@ struct WiFiGridNodeAP {
private:
static const int UNUSED_IDX = 255;
static const uint8_t UNUSED_IDX = 255;
private:
@@ -25,10 +25,14 @@ private:
public:
/** empty ctor */
WiFiGridNodeAP() : idx(UNUSED_IDX), rssi(0) {;}
WiFiGridNodeAP() : idx(UNUSED_IDX), rssi(0) {
int i = 0; (void) i;
}
/** ctor */
WiFiGridNodeAP(const int idx, const float rssi) : idx(idx), rssi(stretch(rssi)) {;}
WiFiGridNodeAP(const int idx, const float rssi) : idx(idx), rssi(stretch(rssi)) {
int i = 0; (void) i;
}
/** is this entry valid/used? */
@@ -70,13 +74,14 @@ private:
*/
template <int maxAccessPoints> struct WiFiGridNode {
/** contains the 10 strongest APs measureable at this position */
WiFiGridNodeAP strongestAPs[maxAccessPoints];
/** ctor */
WiFiGridNode() {;}
explicit WiFiGridNode() : strongestAPs() {
;
}
/** get the maximum number of APs each node is able to store */

28
sensors/radio/WiFiProbabilityFree.h
View File

@@ -8,8 +8,8 @@
#include <unordered_map>
/**
* compare WiFi-Measurements within LIVE (exact) predictions
* just based on the distance to the access-point
* compare WiFi-Measurements within predictions of a given model.
* predictions are just based on the distance to the access-point.
*/
class WiFiObserverFree : public WiFiProbability {
@@ -19,17 +19,16 @@ private:
const float sigmaPerSecond = 1.5f;
/** the RSSI prediction model */
WiFiModel& model;
std::unordered_map<MACAddress, LocatedAccessPoint> aps;
/** the map's floorplan */
Floorplan::IndoorMap* map;
public:
WiFiObserverFree(const float sigma, WiFiModel& model, const std::vector<LocatedAccessPoint>& aps) : sigma(sigma), model(model) {
for (const LocatedAccessPoint& ap : aps) {
this->aps.insert(std::pair<MACAddress, LocatedAccessPoint>(ap.getMAC(), ap));
}
WiFiObserverFree(const float sigma, WiFiModel& model) : sigma(sigma), model(model) {
}
@@ -38,18 +37,17 @@ public:
double prob = 1.0;
// process each measured AP
for (const WiFiMeasurement& entry : obs.entries) {
auto it = aps.find(entry.getAP().getMAC());
// get the model's RSSI (if possible!)
const float modelRSSI = model.getRSSI(entry.getAP().getMAC(), pos);
// AP is unknown
if (it == aps.end()) {continue;}
// NaN? -> AP not known to the model -> skip
if (modelRSSI != modelRSSI) {continue;}
// get the AP
const LocatedAccessPoint& ap = it->second;
// model and scan rssi
const float modelRSSI = model.getRSSI(ap, pos);
// the scan's RSSI
const float scanRSSI = entry.getRSSI();
// the measurement's age

17
sensors/radio/model/WiFiModel.h
View File

@@ -4,14 +4,25 @@
#include "../LocatedAccessPoint.h"
/**
* interface for signal-strength prediction models
* interface for signal-strength prediction models.
*
* the model is passed a MAC-address of an AP in question, and a position.
* hereafter the model returns the RSSI for this AP at the questioned location.
*/
class WiFiModel {
public:
/** get the given access-point's RSSI at the provided location */
virtual float getRSSI(const LocatedAccessPoint& ap, const Point3 p) = 0;
// /** get the given access-point's RSSI at the provided location */
// virtual float getRSSI(const LocatedAccessPoint& ap, const Point3 p) = 0;
/**
* get the RSSI expected at the given location (in meter)
* for an AP identified by the given MAC.
*
* if the model can not predict the RSSI for an AP, it returns NaN!
*/
virtual float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const = 0;
};

54
sensors/radio/model/WiFiModelLogDist.h
View File

@@ -9,21 +9,63 @@
*/
class WiFiModelLogDist : public WiFiModel {
public:
/** parameters describing one AP to the model */
struct APEntry {
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp) :
position_m(position_m), txp(txp), exp(exp) {;}
};
private:
float txp;
float exp;
/** map of all APs (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> accessPoints;
public:
/** ctor */
WiFiModelLogDist(const float txp, const float exp) : txp(txp), exp(exp) {
WiFiModelLogDist() {
;
}
/** get the given access-point's RSSI at the provided location */
float getRSSI(const LocatedAccessPoint& ap, const Point3 p) override {
return LogDistanceModel::distanceToRssi(txp, exp, ap.getDistance(p));
/** make the given AP (and its parameters) known to the model */
void addAP(const MACAddress& accessPoint, const APEntry& params) {
// sanity check
Assert::isBetween(params.txp, -50.0f, -30.0f, "TXP out of bounds [-90:-30]");
Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
// add
accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, params) );
}
virtual float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// AP unknown? -> NAN
if (it == accessPoints.end()) {return NAN;}
// the access-points' parameters
const APEntry& params = it->second;
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// done
return rssiLOS;
}
};

79
sensors/radio/model/WiFiModelLogDistCeiling.h
View File

@@ -3,6 +3,7 @@
#include "../../../floorplan/v2/Floorplan.h"
#include "../../../Assertions.h"
#include "WiFiModel.h"
#include "LogDistanceModel.h"
@@ -12,11 +13,26 @@
*/
class WiFiModelLogDistCeiling : public WiFiModel {
public:
/** parameters describing one AP to the model */
struct APEntry {
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
float waf; // attenuation per ceiling/floor (~-8.0)
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp, const float waf) :
position_m(position_m), txp(txp), exp(exp), waf(waf) {;}
};
private:
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
float waf; // attenuation per ceiling/floor (~-8.0)
/** map of all APs (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> accessPoints;
/** position (height) of all ceilings (in meter) */
std::vector<float> ceilingsAtHeight_m;
@@ -24,9 +40,7 @@ private:
public:
/** ctor */
WiFiModelLogDistCeiling(const float txp, const float exp, const float waf, const Floorplan::IndoorMap* map) : txp(txp), exp(exp), waf(waf) {
Assert::isTrue(waf <= 0, "WAF must be a negative number!");
WiFiModelLogDistCeiling(const Floorplan::IndoorMap* map) {
// position of all ceilings
for (Floorplan::Floor* f : map->floors) {
@@ -35,23 +49,56 @@ public:
}
/** get the given access-point's RSSI at the provided location */
float getRSSI(const LocatedAccessPoint& ap, const Point3 p) override {
const int numCeilings = numCeilingsBetween(ap.z, p.z);
const float rssi = LogDistanceModel::distanceToRssi(txp, exp, ap.getDistance(p));
return rssi + (numCeilings * waf);
/** make the given AP (and its parameters) known to the model */
void addAP(const MACAddress& accessPoint, const APEntry& params) {
// sanity check
Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]");
Assert::isBetween(params.txp, -50.0f, -30.0f, "TXP out of bounds [-50:-30]");
Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
// add
accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, params) );
}
private:
float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// AP unknown? -> NAN
if (it == accessPoints.end()) {return NAN;}
// the access-points' parameters
const APEntry& params = it->second;
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// WAF loss (params.waf is a negative value!) -> WAF loss is also a negative value
const float wafLoss = params.waf * numCeilingsBetween(position_m, params.position_m);
// combine
return rssiLOS + wafLoss;
}
protected:
FRIEND_TEST(LogDistanceCeilingModel, numCeilings);
/** get the number of ceilings between z1 and z2 */
int numCeilingsBetween(const float z1, const float z2) const {
int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
int cnt = 0;
const float zMin = std::min(z1, z2);
const float zMax = std::max(z1, z2);
const float zMin = std::min(pos1.z, pos2.z);
const float zMax = std::max(pos1.z, pos2.z);
for (float z : ceilingsAtHeight_m) {
for (const float z : ceilingsAtHeight_m) {
if (zMin < z && zMax > z) {++cnt;}
}