FHWS/OTHER2017
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FrankE
2017-04-18 20:35:48 +02:00
parent 11cb939758
commit cb86c22f3d
4 changed files with 529 additions and 44 deletions
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88
wifi/EvalWiFiPathMethods.h
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@@ -429,7 +429,7 @@ private:
}
double errFuncOther(const float* params, const WiFiMeasurements& mes) {
double errFuncOther(const float* params, const WiFiMeasurements& _mes) {
// crop z to 1 meter
//params[2] = std::round(params[2]);
@@ -439,11 +439,11 @@ private:
const float sigma = 8.0;
double prob = 1.0;
double error = 0;
int cnt = 0;
//const auto comp = [] (const WiFiMeasurement& m1, const WiFiMeasurement& m2) {return m1.getRSSI() < m2.getRSSI();};
//const auto& min = std::min_element(mes.entries.begin(), mes.entries.end(), comp);
WiFiMeasurements mes = _mes;
const auto comp = [] (const WiFiMeasurement& m1, const WiFiMeasurement& m2) {return m1.getRSSI() < m2.getRSSI();};
//std::sort(mes.entries.begin(), mes.entries.end(), comp);
const auto& min = std::min_element(mes.entries.begin(), mes.entries.end(), comp);
// calculate error for above position using the currently available measurements
for (const WiFiMeasurement& m : mes.entries) {
@@ -452,9 +452,13 @@ private:
if (!LeHelper::isFHWS_AP(m.getAP().getMAC())) {continue;}
// TESTING
//if (m.getAP().getMAC() == min->getAP().getMAC()) {continue;}
//if (m.getRSSI() < -90) {continue;}
//if (m.getRSSI() > -55) {continue;}
if (mes.entries.size() > 8) {
//if (m.getRSSI() < mes.entries[1].getRSSI()-10) {continue;}
//if (m.getRSSI() > -65) {continue;}
if (m.getAP().getMAC() == min->getAP().getMAC()) {continue;}
}
const float rssi = m.getRSSI();
// const volatile float min = -100;
@@ -474,26 +478,7 @@ private:
const float rssi_scan = m.getRSSI();
// likelyhood
//double p = Distribution::Normal<double>::getProbability(rssi_model, sigma, rssi_scan);
//const double p = Distribution::Region<double>::getProbability(rssi_model, sigma, rssi_scan);
//const double p = Distribution::Triangle<double>::getProbability(rssi_model, sigma*2, rssi_scan);
//double p = Distribution::Exponential<double>::getProbability(1, std::abs(rssi_model-rssi_scan));
double p = Distribution::Exponential<double>::getProbability(1.0, std::abs(rssi_model-rssi_scan));
//p = 0.85 * p + 0.15 * (1.0-p);
//p = 0.95 * p + 0.05;
// const double diff = std::abs(rssi_model - rssi_scan);
//// error += diff;
// ++cnt;
// if (diff < 3) {error += 0.001;}
// else if (diff < 5) {error += 0.001;}
// else if (diff < 8) {error += 0.001;}
// else if (diff < 10) {error += 3.0;}
// else if (diff < 15) {error += 5.0;}
// else {error += 15.0;}
// error += std::pow((diff / 10.0f), 5) / 10.0f;
double p = Distribution::Normal<double>::getProbability(rssi_model, sigma, rssi_scan);
// adjust
prob *= p;
@@ -505,6 +490,53 @@ private:
}
/** USED WITHIN THE PAPER */
double errFuncOtherExponential(const float* params, const WiFiMeasurements& mes) {
// crop z to 1 meter
//params[2] = std::round(params[2]);
// suggested position
const Point3 pos_m(params[0], params[1], params[2]);
double prob = 1.0;
//const auto comp = [] (const WiFiMeasurement& m1, const WiFiMeasurement& m2) {return m1.getRSSI() < m2.getRSSI();};
//const auto& min = std::min_element(mes.entries.begin(), mes.entries.end(), comp);
// calculate error for above position using the currently available measurements
for (const WiFiMeasurement& m : mes.entries) {
// skip non-FHWS APs
if (!LeHelper::isFHWS_AP(m.getAP().getMAC())) {continue;}
// get model's rssi for the given location
const float rssi_model = wiModel->getRSSI(m.getAP().getMAC(), pos_m);
// skip APs unknown to the model
if (rssi_model != rssi_model) {
std::cout << "unknown ap: " << m.getAP().getMAC().asString() << std::endl;
continue;
}
// get scan's rssi
const float rssi_scan = m.getRSSI();
// likelyhood
double p = Distribution::Exponential<double>::getProbability(1.0, std::abs(rssi_model-rssi_scan));
// adjust
prob *= p;
}
const double err = -prob;
return err;
}
double getVeto(const Point3& pos_m, const WiFiMeasurements& obs) const {
struct APR {