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iw_intel8260_localization
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re-calibrate based on new indoor data

This commit is contained in:
HappyZ 2018-02-01 22:46:09 -06:00
parent 514d27ca6e
commit d90cf875df
3 changed files with 18 additions and 12 deletions
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27
calibration_plot.m
View File

@ -1,7 +1,7 @@
clear all; clear all;
folder = 'calibration_data/new_indoor/'; folder = 'calibration_data/new_indoor/';
files = dir(folder); files = dir(folder); files = files(3:end); % remove . and ..
targets = zeros(1, length(files)); targets = zeros(1, length(files));
for i = length(files):-1:1 for i = length(files):-1:1
if (~contains(files(i).name, 'result') ||... if (~contains(files(i).name, 'result') ||...
@ -23,6 +23,7 @@ median_result = zeros(1, length(files));
mean_result = zeros(1, length(files)); mean_result = zeros(1, length(files));
all_data = []; all_data = [];
figure(1); clf; hold on; figure(1); clf; hold on;
% figure(2); clf; hold on;
for i = 1:length(files) for i = 1:length(files)
filename = [folder, files(i).name]; filename = [folder, files(i).name];
@ -34,17 +35,18 @@ for i = 1:length(files)
data = fscanf(fileID, formatSpec, [9 Inf]); data = fscanf(fileID, formatSpec, [9 Inf]);
fclose(fileID); fclose(fileID);
if isempty(data) if isempty(data)
data = readtable(filename); data = readtable(filename, 'ReadVariableNames', 0);
if isempty(data) if isempty(data)
continue continue
end end
caliDist = table2array(data(:, 2))'; data = data(2:end, :);
rawRTT = table2array(data(:, 3))'; caliDist = str2double(table2array(data(:, 2)))';
rawRTTVar = table2array(data(:, 4))'; rawRTT = str2double(table2array(data(:, 3)))';
rawDist = table2array(data(:, 5))'; rawRTTVar = str2double(table2array(data(:, 4)))';
rawDistVar = table2array(data(:, 6))'; rawDist = str2double(table2array(data(:, 5)))';
rssi = table2array(data(:, 7))'; rawDistVar = str2double(table2array(data(:, 6)))';
time = table2array(data(:, 8))'; rssi = str2double(table2array(data(:, 7)))';
time = str2double(table2array(data(:, 8)))';
else else
% get rid of invalid data % get rid of invalid data
data(:, data(7, :) ~= 0) = []; data(:, data(7, :) ~= 0) = [];
@ -61,6 +63,11 @@ for i = 1:length(files)
fprintf('* std: %.2f (uncalibrated)\n', std(rawDist)); fprintf('* std: %.2f (uncalibrated)\n', std(rawDist));
figure(1); cdfplot(rawDist); figure(1); cdfplot(rawDist);
% figure(2);
% scatter3(...
% sqrt(rawDistVar),...
% rssi,...
% rawDist - targets(i));
all_data = [... all_data = [...
all_data,... all_data,...
@ -95,7 +102,7 @@ end
% size(all_data, 2)); % size(all_data, 2));
figure(2); clf; hold on; figure(3); clf; hold on;
scatter(all_data(1, :), all_data(2, :), 'b.'); scatter(all_data(1, :), all_data(2, :), 'b.');
plot(median_result, targets, 'r', 'LineWidth', 2) plot(median_result, targets, 'r', 'LineWidth', 2)

1
iw_parser.py
View File

@ -71,7 +71,6 @@ def main():
'--cali', '--cali',
nargs=2, nargs=2,
default=(0.9376, 558.0551), default=(0.9376, 558.0551),
# default=(0.9234, 534.7103),
type=float, type=float,
help="calibrate final result" help="calibrate final result"
) )

2
libMeasurement.py
View File

@ -192,7 +192,7 @@ def main():
p.add_argument( p.add_argument(
'--cali', '--cali',
nargs=2, nargs=2,
# default=(0.9234, 534.7103), # indoor # default=(0.9376, 558.0551), # indoor
default=(0.8324, 583.7435), # outdoor default=(0.8324, 583.7435), # outdoor
type=float, type=float,
help="calibrate final result" help="calibrate final result"