3f8d21e146
1) when barometer produces false measurements, we needed some kind of upper boundary 2) coding error static.. while initializing this object over multiple test iterations isnt the best idea
154 lines
4.2 KiB
C++
154 lines
4.2 KiB
C++
#ifndef WIFIPROBABILITYFREE_H
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#define WIFIPROBABILITYFREE_H
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#include "WiFiProbability.h"
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#include "model/WiFiModel.h"
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#include "../../math/Distributions.h"
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#include "VAPGrouper.h"
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#include "../../floorplan/v2/Floorplan.h"
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#include <unordered_map>
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/**
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* compare WiFi-Measurements within predictions of a given model.
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* predictions are just based on the distance to the access-point.
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*/
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class WiFiObserverFree : public WiFiProbability {
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private:
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const float sigma;
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const float sigmaPerSecond = 3.0f;
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/** the RSSI prediction model */
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WiFiModel& model;
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/** the map's floorplan */
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Floorplan::IndoorMap* map;
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std::vector<AccessPoint> allAPs;
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bool useError = false;
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public:
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WiFiObserverFree(const float sigma, WiFiModel& model) : sigma(sigma), model(model) {
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allAPs = model.getAllAPs();
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}
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void setUseError(const bool useError) {
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this->useError = useError;
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}
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double getProbability(const Point3& pos_m, const Timestamp curTime, const WiFiMeasurements& obs) const {
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double prob = 1.0;
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//double prob = 0;
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int numMatchingAPs = 0;
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// process each measured AP
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for (const WiFiMeasurement& entry : obs.entries) {
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// sanity check
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Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
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// get the model's RSSI (if possible!)
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const float modelRSSI = model.getRSSI(entry.getAP().getMAC(), pos_m);
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// NaN? -> AP not known to the model -> skip
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if (modelRSSI != modelRSSI) {continue;}
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// the scan's RSSI
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const float scanRSSI = entry.getRSSI();
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// the measurement's age
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const Timestamp age = curTime - entry.getTimestamp();
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Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
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Assert::isTrue(age.ms() <= 60000, "found a 60 second old wifi measurement. maybe there is a coding error?");
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Assert::isBetween(scanRSSI, -100.0f, -20.0f, "scan-rssi out of range");
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//Assert::isBetween(modelRSSI, -160.0f, -10.0f, "model-rssi out of range");
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// sigma grows with measurement age
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const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
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// probability for this AP
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double local = Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
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//double local = Distribution::Exponential<double>::getProbability(0.1, std::abs(modelRSSI-scanRSSI));
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// also add the error value? [location is OK but model is wrong]
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if (useError) {
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local = 0.95 * local + 0.05 * (1.0-local);
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//local = 0.95 * local + 0.05;
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}
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// update probability
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prob *= local;
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++numMatchingAPs;
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}
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// sanity check
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//Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
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return prob;
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}
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/**
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* for some locations it might make sense to also look at APs
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* that have NOT been discovered by the smartphone but SHOULD
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* be very well receivable at a location.
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* such locations can be opted-out by using this veto-probability
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*/
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double getVeto(const Point3& pos_m, const Timestamp curTime, const WiFiMeasurements& obs) const {
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(void) curTime;
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struct APR {
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AccessPoint ap;
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float rssi;
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APR(const AccessPoint& ap, const float rssi) : ap(ap), rssi(rssi) {;}
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};
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std::vector<APR> all;
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for (const AccessPoint& ap : allAPs) {
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const float rssi = model.getRSSI(ap.getMAC(), pos_m);
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if (rssi != rssi) {continue;} // unknown to the model
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all.push_back(APR(ap, rssi));
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}
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// stort by RSSI
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auto comp = [&] (const APR& apr1, const APR& apr2) {return apr1.rssi > apr2.rssi;};
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std::sort(all.begin(), all.end(), comp);
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int numVetos = 0;
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for (int i = 0; i < 3; ++i) {
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const APR& apr = all[i];
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const WiFiMeasurement* mes = obs.getForMac(apr.ap.getMAC());
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const float rssiScan = (mes) ? (mes->getRSSI()) : (-100);
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const float rssiModel = apr.rssi;
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const float diff = std::abs(rssiScan - rssiModel);
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if (diff > 20) {++numVetos;}
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}
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if (numVetos == 0) {return 0.70;}
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if (numVetos == 1) {return 0.29;}
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else {return 0.01;}
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}
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template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
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return this->getProbability(n.inMeter() + Point3(0,0,1.3), curTime, obs);
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}
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};
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#endif // WIFIPROBABILITYFREE_H
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