Classes | Variables
indoor_positioning.positioning_plus Namespace Reference

Classes

class  PositioningPlus
 

Variables

 beacon = pos.get_beacon('00124B00090593E6')
 
int breakpoint = 0
 
list dummy_pings
 
 in_range = pos.in_range(dummy_pings)
 
 pos = PositioningPlus('/home/metratec/catkin_ws/src/indoor_positioning/config/zones.yml')
 
 ranges = pos.parse_srg(in_range)
 
list resp
 
 tril = pos.trilaterate(ranges)
 
 zone = pos.get_zone(dummy_pings)
 

Detailed Description

Use this class to perform indoor positioning with the metraTec IPS+ system. The position of a receiver is evaluated by
UWB ranging of RF beacons placed in the environment. Requires a YAML file with the configuration of beacon positions.

Usage:
Initialize the class by passing the directory of the config file. Then collect a number of beacon responses to ranging
requests (SRG) and use the parse_srg() function to get a list of beacon objects and their respective ranges from a list
of SRG responses.
Use this list as input for the trilaterate() function to estimate the position of the receiver in 3D space.

A few examples can be found in the main function below.

Variable Documentation

indoor_positioning.positioning_plus.beacon = pos.get_beacon('00124B00090593E6')

Definition at line 192 of file src/indoor_positioning/positioning_plus.py.

int indoor_positioning.positioning_plus.breakpoint = 0

Definition at line 206 of file src/indoor_positioning/positioning_plus.py.

list indoor_positioning.positioning_plus.dummy_pings
Initial value:
1 = ['BCN 00124B00090593E6 -090', 'BCN 00124B00090593E6 -090', 'BCN 00124B00090593E6 -090',
2  'BCN 00124B00050CD41E -090', 'BCN 00124B00050CD41E -070', 'BCN 00124B00050CD41E -050',
3  'BCN 00124B00050CDC0A -070', 'BCN 00124B00050CDC0A -060', 'BCN 00124B00050CDC0A -090']

Definition at line 187 of file src/indoor_positioning/positioning_plus.py.

indoor_positioning.positioning_plus.in_range = pos.in_range(dummy_pings)

Definition at line 200 of file src/indoor_positioning/positioning_plus.py.

indoor_positioning.positioning_plus.pos = PositioningPlus('/home/metratec/catkin_ws/src/indoor_positioning/config/zones.yml')

Definition at line 185 of file src/indoor_positioning/positioning_plus.py.

indoor_positioning.positioning_plus.ranges = pos.parse_srg(in_range)

Definition at line 202 of file src/indoor_positioning/positioning_plus.py.

list indoor_positioning.positioning_plus.resp
Initial value:
1 = ['SRG 00124B00050CDA71 01650 -076 -081 047\r', 'SRG 00124B00090593E6 04300 -076 -080 105\r',
2  'SRG 00124B00050CD41E 00800 -079 -082 049\r']

Definition at line 197 of file src/indoor_positioning/positioning_plus.py.

indoor_positioning.positioning_plus.tril = pos.trilaterate(ranges)

Definition at line 204 of file src/indoor_positioning/positioning_plus.py.

indoor_positioning.positioning_plus.zone = pos.get_zone(dummy_pings)

Definition at line 194 of file src/indoor_positioning/positioning_plus.py.



indoor_positioning
Author(s): Christian Arndt
autogenerated on Mon Jun 10 2019 13:33:13