FHWS/Indoor
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added kullback leibler for gaussian cases

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toni
2017-03-09 18:57:47 +01:00
parent 62087fe072
commit e48d3bafcd
9 changed files with 374 additions and 8 deletions
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4
sensors/beacon/BeaconProbabilityFree.h
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@@ -57,7 +57,9 @@ public:
const float modelRSSI = model.getRSSI(entry.getBeacon().getMAC(), pos_m);
// NaN? -> AP not known to the model -> skip
if (modelRSSI != modelRSSI) {continue;}
if (modelRSSI != modelRSSI) {
continue;
}
// the scan's RSSI

7
sensors/radio/WiFiProbabilityFree.h
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@@ -58,7 +58,7 @@ public:
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() <= 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();
@@ -72,14 +72,15 @@ public:
}
// sanity check
Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
//Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
return prob;
}
template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
throw Exception("todo??");
return this->getProbability(n.inMeter() + Point3(0,0,1.3), curTime, obs);
}
};

5
sensors/radio/WiFiProbabilityGrid.h
View File

@@ -73,7 +73,7 @@ public:
const Timestamp age = curTime - measurement.getTimestamp();
// sigma grows with measurement age
float sigma = this->sigma + this->sigmaPerSecond * age.sec();
float sigma = this->sigma + this->sigmaPerSecond * age.sec();
// the RSSI from the scan
const float measuredRSSI = measurement.getRSSI();
@@ -102,8 +102,7 @@ public:
}
// sanity check
// Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
// if (numMatchingAPs == 0) {return 0;}
//Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
// as not every node has the same number of visible/matching APs
// we MUST return something like the average probability