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itpp::Multilateration Class Reference
Miscellaneous Communications Functions

Multilateration class for 3D indoor localization More...

#include <itpp/comm/multilateration.h>

Public Types

enum  Type { MULTI_FAILURE = -1, MULTI_SPHERICAL, MULTI_HYPERBOLIC, MULTI_HYBRID }
 Multilateration types as detected from user input (method binary vector) More...
 

Public Member Functions

 Multilateration ()
 Multilateration class default constructor
 
 Multilateration (const itpp::bvec &method, const itpp::mat &bs_pos)
 Multilateration class constructor
 
virtual ~Multilateration ()
 Multilateration destructor
 
void setup (const itpp::bvec &method, const itpp::mat &bs_pos)
 Setup function for specifying the multilateration method and the base station positions.
 
bool get_pos (itpp::vec &ms_pos, const itpp::vec &measures)
 Computes the mobile station position for spherical and hybrid multilateration.
 
bool get_pos (itpp::vec &ms_pos, const itpp::mat &measures)
 Computes the mobile station position for hyperbolic multilateration.
 
unsigned int get_nb_fails_part () const
 Gets the number of failures of the partitioning algorithm used internally by the ML-estimator.
 
unsigned int get_nb_fails_pos () const
 Gets the number of failures of the positioning algorithm used internally by the ML-estimator.
 
void reset_err_counters ()
 Resets the error counters (number of failures for the partitioning and positioning algorithms)
 
Type get_type () const
 Gets the type of the multilateration method currently used by the ML-estimator.
 
double get_crlb (const vec &ms_pos, double sigma2)
 Computes the Cramer Rao lower bound for the ML-estimator assuming the same noise variance for all measures.
 

Detailed Description

Multilateration class for 3D indoor localization

Implements geometry-based methods for indoor localization:

In addition, it allows to compute the theoretical performance of the algorithm based on Cramer Rao Lower Bound (CRLB).

Geometry-based methods for indoor localization use several Base Stations (BSs), whose position is known, in order to compute the position of the Mobile Station (MS). By computing the distance to each BS (TOA ranging) or the difference between the distances to two BSs (TDOA) a system of non-linear equations is obtained that allows to compute the MS position. At least 4 measures (TOA or TDOA) are needed in order to obtain a determinate equation system. The algorithm implemented in this class can handle any number of measures (at least four) by using an asymptotic Maximum Likelihood (ML) estimator [1]. The input of the algorithm is represented by a method vector, specifying the type of each ranging measure (0 for TOA and 1 for TDOA), a matrix with BSs positions and a vector (for spherical and hybrid) or a matrix (for hyperbolic multilateration) with the ranging measures. The output is a vector of length 3 with the position of the MS in 3D cartezian coordinates.

Note that for hybrid multilateration the method vector should have at least a one and a zero, for spherical multilateration the method vector is all zeros, while for hyperbolic multilateration is all ones.

The CRLB is computed as the Euclidean distance between the estimated position of the MS and the true MS position. The noise variance is needed as input together with the true MS position. It is assumed that the noise affecting the measures has the same variance for all measures.

Usage example:

Multilateration multi;
bvec method(4);
method.zeros();//spherical multilateration
mat bs_pos = randn(3, 4);//four BSs
multi.setup(method, bs_pos);
vec measures(4);
//measures are generated following TOA ranging method (see unit tests file for an example)
vec ms_pos;//algorithm output
bool rc = multi.get_pos(ms_pos, measures);//algorithm has failed if the output is false

Reference: [1] Urruela, A. and Riba, J. - Novel closed-form ML position estimator for hyperbolic location, ICASSP'04

Definition at line 85 of file multilateration.h.

Member Enumeration Documentation

enum itpp::Multilateration::Type

Multilateration types as detected from user input (method binary vector)

Enumerator:
MULTI_FAILURE 

the algorithm has failed

MULTI_SPHERICAL 

spherical multilateration

MULTI_HYPERBOLIC 

hyperbolic multilateration

MULTI_HYBRID 

hybrid multilateration

Definition at line 89 of file multilateration.h.

Constructor & Destructor Documentation

itpp::Multilateration::Multilateration ( const itpp::bvec &  method,
const itpp::mat &  bs_pos 
)
inline

Multilateration class constructor

The BS positions are specified as a matrix, each BS position can be specified on either rows or columns. The method vector specify the measure type: 0 for TOA or 1 for TDOA. For example, a vector with all zeros represents spherical multilateration, while a vector with all ones represents hyperbolic multilateration.

For spherical multilateration the number of BSs and the method length must be equal. For hybrid and hyperbolic multilateration the number of BSs must be the method length plus one.

Parameters
methodmultilateration method
bs_posbase station positions in 3D cartezian coordinates

Definition at line 106 of file multilateration.h.

Member Function Documentation

void itpp::Multilateration::setup ( const itpp::bvec &  method,
const itpp::mat &  bs_pos 
)
inline

Setup function for specifying the multilateration method and the base station positions.

The BS positions are specified as a matrix, each BS position can be specified on either rows or columns. The method vector specify the measure type: O for TOA or 1 for TDOA. A vector with all zeros represents spherical multilateration, while a vector with all ones represents hyperbolic multilateration.

For spherical multilateration the number of BSs and the method lenght must be equal and it must also equal the length of the measures vector.

For hybrid and hyperbolic multilateration the number of BSs must be the method length plus one.

Parameters
methodmultilateration method
bs_posbase station positions

Definition at line 124 of file multilateration.h.

References it_error.

bool itpp::Multilateration::get_pos ( itpp::vec &  ms_pos,
const itpp::vec &  measures 
)
inline

Computes the mobile station position for spherical and hybrid multilateration.

For spherical multilateration the vector of measures should be generated as follows:

\[ measures(i) = dist(bs\_pos(i), ms\_pos) \]

where $ dist() $ is the Euclidean distance between two points in 3D cartezian coordinates.

For hybrid multilateration the vector of measures is generated as:

  • if $ 1 == method(i) $ (TDOA ranging measure)

    \[ measures(i) = dist(bs\_pos(i+1), ms\_pos)-dist(bs\_pos(0), ms\_pos) \]

  • if $ 0 == method(i) $ (TOA ranging measure)

    \[ measures(i) = dist(bs\_pos(i), ms\_pos) \]

Parameters
ms_posoutput with mobile station position in 3D cartezian coordinates
measuresvector with ranging measures

Definition at line 142 of file multilateration.h.

bool itpp::Multilateration::get_pos ( itpp::vec &  ms_pos,
const itpp::mat &  measures 
)
inline

Computes the mobile station position for hyperbolic multilateration.

The matrix of measures is computed as follows:

\[ measures(i,j) = dist(bs\_pos(i), ms\_pos)-dist(bs\_pos(j), ms\_pos) \]

where $ dist() $ is the Euclidean distance between two points in 3D cartezian coordinates.

Parameters
ms_posoutput with mobile station position in 3D cartezian coordiates
measuresmatrix with ranging measures

Definition at line 152 of file multilateration.h.

double itpp::Multilateration::get_crlb ( const vec &  ms_pos,
double  sigma2 
)

Computes the Cramer Rao lower bound for the ML-estimator assuming the same noise variance for all measures.

Parameters
ms_postrue mobile station position
sigma2noise variance affecting the measures

Definition at line 1514 of file multilateration.cpp.

References itpp::diag(), itpp::inv(), it_error, itpp::length(), itpp::sqrt(), itpp::sum(), and itpp::sum_sqr().

The documentation for this class was generated from the following files:
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