happyz
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iw_intel8260_localization
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improve localization trilateration

This commit is contained in:
HappyZ 2018-02-08 14:03:26 -06:00
parent d58044615d
commit 31828a6088
4 changed files with 48 additions and 19 deletions
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1
.gitignore vendored
View File

@ -6,3 +6,4 @@ iw/.config
iw/version.c
iw/iw.8.gz
iw/*-stamp
*.pyc

10
config_entry.default
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@ -3,6 +3,14 @@
"bw": 20,
"cf": 2462,
"spb": 255,
"retries": 3
"retries": 3,
"location": "0,0"
},
"34:f6:4b:5e:69:0b": {
"bw": 20,
"cf": 2437,
"spb": 255,
"retries": 3,
"location": "180,0"
}
}

41
libLocalization.py
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@ -6,7 +6,7 @@ import time
import math
import argparse
from numpy import median
from numpy import median, arange
# ======= start =======
# excerpt from
@ -97,11 +97,12 @@ def get_polygon_center(points):
def trilateration2d(mydict, bounds=None, verbose=False):
'''
mydict format: {
location: (radius, std),...
}
bound format: {
'x_min': float,
'x_max': float,
'y_min': float,
'y_max': float
'x_min': float, 'x_max': float,
'y_min': float, 'y_max': float
}
'''
points = []
@ -110,13 +111,21 @@ def trilateration2d(mydict, bounds=None, verbose=False):
tmp = loc.split(',')
p = Point(tmp[0], tmp[1])
points.append(p)
c = Circle(p, mydict[loc])
circles.append(c)
if mydict[loc][1]:
# create multiple circles based on std
for r in arange(
mydict[loc][0] - mydict[loc][1],
mydict[loc][0] + mydict[loc][1],
10
):
circles.append(Circle(p, r))
else:
circles.append(Circle(p, mydict[loc]))
# print(len(points), len(circles))
inner_points = []
for p in get_intersecting_points(circles):
if not is_contained_in_circles(p, circles):
continue
# if not is_contained_in_circles(p, circles):
# continue
if bounds is not None:
if bounds.get('x_min', None) is not None and bounds['x_min'] > p.x:
continue
@ -162,23 +171,23 @@ def deriveLocation(args, results):
if __name__ == '__main__':
deriveLocation(
loc = deriveLocation(
{
'config_entry': {
'34:f6:4b:5e:69:1f': {'location': '0,0'},
'34:f6:4b:5e:69:1e': {'location': '1,1'},
'34:f6:4b:5e:69:1e': {'location': '180,0'},
'34:f6:4b:5e:69:1d': {'location': '0,2'},
'34:f6:4b:5e:69:1a': {'location': '1,2'}
},
'verbose': True,
'filepath': 'test.txt',
'filepath': '',
'loc_bounds': {
'x_min': 0
'y_min': 0
}
},
{
'34:f6:4b:5e:69:1f': 100,
'34:f6:4b:5e:69:1e': 100,
'34:f6:4b:5e:69:1d': 220
'34:f6:4b:5e:69:1f': (257, 50),
'34:f6:4b:5e:69:1e': (50, 50)
}
)
print(loc)

15
libMeasurement.py
View File

@ -162,7 +162,13 @@ class Measurement(object):
result[each[0]] = []
result[each[0]].append(each[1:])
for mac in result:
median_result[mac] = median([x[0] for x in result[mac]])
median_result[mac] = (
median([x[0] for x in result[mac]]),
median(
[sqrt(x[4]) * self.cali[0] + self.cali[1]
for x in result[mac]]
)
)
return median_result
def __enter__(self):
@ -205,7 +211,10 @@ def wrapper(args):
rounds=args['rounds'], verbose=args['verbose']
)
for mac in results:
print('* {0} is {1:.4f}cm away.'.format(mac, results[mac]))
print(
'* {0} is {1:.4f}cm (±{2:.2f}) away.'
.format(mac, results[mac][0], results[mac][1])
)
# calculate location info
if args['locs']:
loc = deriveLocation(args, results)
@ -284,6 +293,8 @@ def main():
if args['indoor'] and args['cali'] == (0.8927, 553.3157):
args['cali'] = (0.9376, 558.0551)
args['time_of_exec'] = int(time.time())
# TODO: add option to change loc bounds, currently force y_min = 0
args['loc_bounds'] = {'y_min': 0}
# rename file path by adding time of exec
if args['filepath']:
fp, ext = os.path.splitext(args['filepath'])