RcdMathLib_doc
Open Source Library for Linear and Non-linear Algebra
dist_based_jacobian.h File Reference

Jacobian function of distance-based localization systems. More...

#include "matrix.h"
#include "vector.h"

Go to the source code of this file.

Functions

void dist_based_jacobian_get_JTf (uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t dist_vec[ref_points_num], vector_t JTf[3])
 Defines $ J_f^{T} \vec{f} $ of distance-based localization system. More...
 
void dist_based_jacobian_get_JTJ (uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t dist_vec[ref_points_num], matrix_t JTJ[3][3])
 Defines $ J_f^{T} J_{f} $ of distance-based localization system. More...
 
void dist_based_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])
 Computes $ J_f^{T} \vec{s} $ of distance-based localization system. More...
 
void dist_based_jacobian_get_J (uint8_t ref_points_num, matrix_t point[3], matrix_t ref_point_matrix[ref_points_num][3], matrix_t J[ref_points_num][3])
 Computes the Jacobian matrix of distance-based localization system. More...
 

Detailed Description

Jacobian function of distance-based localization systems.

Author
Zakaria Kasmi zkasm.nosp@m.i@in.nosp@m.f.fu-.nosp@m.berl.nosp@m.in.de

Definition in file dist_based_jacobian.h.

Function Documentation

◆ dist_based_jacobian_get_J()

void dist_based_jacobian_get_J ( uint8_t  ref_points_num,
matrix_t  point[3],
matrix_t  ref_point_matrix[ref_points_num][3],
matrix_t  J[ref_points_num][3] 
)

Computes the Jacobian matrix of distance-based localization system.

Parameters
[in]ref_points_numnumber of the reference stations.
[in]point[]three-dimensional coordinates of the mobile device.
[in]ref_point_matrix[][]three-dimensional coordinates of the reference stations.
[out]J[][]includes the Jacobian Matrix.

Definition at line 100 of file dist_based_jacobian.c.

References matrix_t.

◆ dist_based_jacobian_get_J_mul_s()

void dist_based_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] 
)

Computes $ J_f^{T} \vec{s} $ of distance-based localization system.

Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.

Parameters
[in]ref_points_numnumber of the reference stations.
[in]ref_point_matrix[][]three-dimensional coordinates of the reference stations.
[in]point[]three-dimensional coordinates of the mobile device.
[in]s[]correction vector.
[out]J_s[]includes the $ J_f^{T} \vec{s} $ vector.

Definition at line 132 of file dist_based_jacobian.c.

References matrix_t.

Referenced by multipath_algo_own_norm_distr_test(), and position_optimization_test().

◆ dist_based_jacobian_get_JTf()

void dist_based_jacobian_get_JTf ( uint8_t  ref_points_num,
matrix_t  ref_point_matrix[ref_points_num][3],
matrix_t  point[3],
matrix_t  dist_vec[ref_points_num],
vector_t  JTf[3] 
)

Defines $ J_f^{T} \vec{f} $ of distance-based localization system.

Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.

Parameters
[in]ref_points_numnumber of the reference stations.
[in]ref_point_matrix[][]three-dimensional coordinates of the reference stations.
[in]point[]three-dimensional coordinates of the mobile device.
[in]dist_vec[]distances to the reference stations.
[in,out]JTf[]includes the $ J_f^{T} \vec{f} $ vector.

Definition at line 28 of file dist_based_jacobian.c.

References dist_based_fi(), matrix_t, and vector_clear().

Referenced by multipath_algo_own_norm_distr_test(), and position_optimization_test().

◆ dist_based_jacobian_get_JTJ()

void dist_based_jacobian_get_JTJ ( uint8_t  ref_points_num,
matrix_t  ref_point_matrix[ref_points_num][3],
matrix_t  point[3],
matrix_t  dist_vec[ref_points_num],
matrix_t  JTJ[3][3] 
)

Defines $ J_f^{T} J_{f} $ of distance-based localization system.

Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.

Parameters
[in]ref_points_numnumber of the reference stations.
[in]ref_point_matrix[][]three-dimensional coordinates of the reference stations.
[in]point[]three-dimensional coordinates of the mobile device.
[in]dist_vec[][]distances to the reference stations.
[out]JTJ[][]includes the $ J_f^{T} J_{f} $ matrix.

Definition at line 56 of file dist_based_jacobian.c.

References dist_based_fi(), matrix_clear(), and matrix_t.

Referenced by multipath_algo_own_norm_distr_test(), and position_optimization_test().