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pl:dydaktyka:aml:lab7_2017 [2017/10/24 08:23]
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pl:dydaktyka:aml:lab7_2017 [2019/06/27 15:50] (aktualna)
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 ==== Wyznaczenie punktu styku ==== ==== Wyznaczenie punktu styku ====
 +
 +
 +Fill int the following function which is located in Robot class <code java>​public Location determineLocation(RSSI tower1Message,​ RSSI tower2Message,​ RSSI tower3Message){...}</​code> ​
 +
 +=== Exercise 1===
 +Use following dependency:
 +
 +{{:​pl:​dydaktyka:​aml:​trilateration.png?​400 |}}
 +
 +Assumed that tower 1 and 2 are on the same line, we have following circle equations:
 +
 +{{ :​pl:​dydaktyka:​aml:​trilateration-eq1.png?​200 |}}
 +
 +By subtracting the second equation from the first, x is attained. Substituting this value back into the first equation will result in values for y:
 +
 +{{ :​pl:​dydaktyka:​aml:​trilateration-eq2.png?​200 |}}
 +
 +Solving this will make two solutions (see the plus/minus sign). But substituting these two combinations to the third equation will allow us to discard wrong answer.
 +
 +===Ecercise II===
 +Change the location of the second tower to (750,300) and do the same. Note, that now the first and the second tower are not at the same line, so computations may become nasty.
 +
  
 ===== Particle filtering (model zaszumiony) ===== ===== Particle filtering (model zaszumiony) =====
  
 +Turn on the noise by setting the <code java>​public static final double NOISE_RATIO</​code>​ in class Simulator to value between 0 and 1, and try do the same.
 +
 +See branch particle-filtering of the project.
  
 +Change particle filtering mehod to use [[http://​www.bzarg.com/​p/​how-a-kalman-filter-works-in-pictures/​|Kalman filtering]].
 +Are there are any changes in results?
  
  
pl/dydaktyka/aml/lab7_2017.1508826222.txt.gz · ostatnio zmienione: 2019/06/27 15:51 (edycja zewnętrzna)
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