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RcdMathLib_doc
Open Source Library for Linear and Non-linear Algebra
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Implement the Levenberg–Marquardt (LVM) algorithm for position optimization. More...
Go to the source code of this file.
Functions | |
| uint8_t | loc_levenberg_marquardt (uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t start_pos[3], matrix_t measured_data_vec[ref_points_num], matrix_t eps, matrix_t tau, matrix_t beta0, matrix_t beta1, uint8_t max_iter_num, matrix_t est_pos[3], void(*f_i)(uint8_t ref_points_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]), void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]), void(*jacobian_get_JTf)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]), void(*jacobian_get_J_mul_s)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num])) |
| Implements the Levenberg–Marquardt (LVM) algorithm. More... | |
| matrix_t | loc_levenberg_marquardt_correction (uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t point[3], matrix_t measured_data_vec[ref_points_num], matrix_t mu, matrix_t s[3], void(*f_i)(uint8_t ref_point_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]), void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]), void(*jacobian_get_JTf)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]), void(*jacobian_get_J_mul_s)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num])) |
| Implements the correction-function of the Levenberg–Marquardt (LVM) algorithm. More... | |
| matrix_t | loc_levenberg_marquardt_get_mu0 (matrix_t tau, matrix_t JTJ[3][3]) |
Compute the initial value of the Levenberg–Marquardt (LVM) algorithm. More... | |
| void | loc_levenberg_marquardt_get_JTJ_mu2_I (uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t point[3], matrix_t measured_data_vec[ref_points_num], matrix_t mu, matrix_t JTJ_mu2_I[3][3], void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3])) |
Compute the matrix . More... | |
Implement the Levenberg–Marquardt (LVM) algorithm for position optimization.
Definition in file loc_levenberg_marquardt.h.
| uint8_t loc_levenberg_marquardt | ( | uint8_t | ref_points_num, |
| matrix_t | ref_points_matrix[ref_points_num][3], | ||
| matrix_t | start_pos[3], | ||
| matrix_t | measured_data_vec[ref_points_num], | ||
| matrix_t | eps, | ||
| matrix_t | tau, | ||
| matrix_t | beta0, | ||
| matrix_t | beta1, | ||
| uint8_t | max_iter_num, | ||
| matrix_t | est_pos[3], | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]) | f_i, | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]) | jacobian_get_JTJ, | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]) | jacobian_get_JTf, | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num]) | jacobian_get_J_mul_s | ||
| ) |
Implements the Levenberg–Marquardt (LVM) algorithm.
The user should provide pointers to the error and Jacobian functions.
| [in] | ref_points_num | number of the reference stations. |
| [in] | ref_points_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | start_pos[] | start (approximate) position. |
| [in] | measured_data_vec[] | pointer to the measured data. |
| [in] | eps | accuracy bound. |
| [in] | tau | factor. |
| [in] | beta0 | factor. |
| [in] | beta1 | factor. |
| [in] | max_iter_num | maximal iteration number of the LVM algorithm. |
| [out] | est_pos[] | estimated (optimized) position. |
| [in] | (*f_i) | pointer to the error function. |
| [in] | (*jacobian_get_JTJ) | pointer to the function that calculates the matrix . |
| [in] | (*jacobian_get_JTf) | pointer to the function that calculates the vector . |
| [in] | (*jacobian_get_J_mul_s) | pointer to the function that calculates the vector . |
Definition at line 126 of file loc_levenberg_marquardt.c.
References loc_levenberg_marquardt_correction(), loc_levenberg_marquardt_get_JTJ_mu2_I(), loc_levenberg_marquardt_get_mu0(), matrix_mul_scalar(), matrix_t, solve_householder(), vector_add(), vector_copy(), and vector_get_norm2().
Referenced by multipath_algo_own_norm_distr_test(), and position_optimization_test().
| matrix_t loc_levenberg_marquardt_correction | ( | uint8_t | ref_points_num, |
| matrix_t | ref_points_matrix[ref_points_num][3], | ||
| matrix_t | point[3], | ||
| matrix_t | measured_data_vec[ref_points_num], | ||
| matrix_t | mu, | ||
| matrix_t | s[3], | ||
| void(*)(uint8_t ref_point_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]) | f_i, | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]) | jacobian_get_JTJ, | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]) | jacobian_get_JTf, | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num]) | jacobian_get_J_mul_s | ||
| ) |
Implements the correction-function of the Levenberg–Marquardt (LVM) algorithm.
The user should provide pointers to the error and Jacobian functions.
| [in] | ref_points_num | number of the reference stations. |
| [in] | ref_points_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | point[] | a position to adjust. |
| [in] | measured_data_vec[] | pointer to the measured data. |
| [in] | mu | regularization parameter . |
| [out] | s[] | correction vector. |
| [in] | (*f_i) | pointer to the error function. |
| [in] | (*jacobian_get_JTJ) | pointer to the function that calculates the matrix . |
| [in] | (*jacobian_get_JTf) | pointer to the function that calculates the vector . |
| [in] | (*jacobian_get_J_mul_s) | pointer to the function that calculates the vector ![]() |
Definition at line 34 of file loc_levenberg_marquardt.c.
References loc_levenberg_marquardt_get_JTJ_mu2_I(), matrix_mul_scalar(), matrix_t, solve_householder(), vector_add(), and vector_get_scalar_product().
Referenced by loc_levenberg_marquardt().
| void loc_levenberg_marquardt_get_JTJ_mu2_I | ( | uint8_t | ref_points_num, |
| matrix_t | ref_points_matrix[ref_points_num][3], | ||
| matrix_t | point[3], | ||
| matrix_t | measured_data_vec[ref_points_num], | ||
| matrix_t | mu, | ||
| matrix_t | JTJ_mu2_I[3][3], | ||
| void(*)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]) | jacobian_get_JTJ | ||
| ) |
Compute the matrix
.
| [in] | ref_points_num | number of the reference stations. |
| [in] | ref_points_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | point[] | a position to adjust. |
| [in] | measured_data_vec[] | pointer to the measured data. |
| [in] | mu | -parameter |
| [out] | JTJ_mu2_I[][] | includes the matrix . |
| [in] | (*jacobian_get_JTJ) | pointer to the function that calculates the matrix . |
Definition at line 236 of file loc_levenberg_marquardt.c.
Referenced by loc_levenberg_marquardt(), and loc_levenberg_marquardt_correction().
Compute the initial value
of the Levenberg–Marquardt (LVM) algorithm.
The user should provide a pointer to the matrix
.
| [in] | tau | factor. |
| [in] | JTJ[][] | pointer to the matrix . |
-parameter Definition at line 223 of file loc_levenberg_marquardt.c.
References matrix_t.
Referenced by loc_levenberg_marquardt().