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<div class="title">multipath_dist_detection_mitigation.h</div> </div>
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<a href="multipath__dist__detection__mitigation_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de></span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * 2020 Freie Universität Berlin</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * This file is subject to the terms and conditions of the GNU Lesser General</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Public License v2.1. See the file LICENSE in the top level directory for more</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * details.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#ifndef POSITIONING_ROBUST_OTF_H_</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#define POSITIONING_ROBUST_OTF_H_</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <inttypes.h></span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include "<a class="code" href="matrix_8h.html">matrix.h</a>"</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a38019260396a33562d5a1912c691c26a">get_exact_distance_to_anchor</a>(<a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point[],</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  uint32_t exact_point[]);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">bool</span> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a5609107d45b6abfa6614fc79c56273c8">is_member</a>(<a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> vector, uint8_t n, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> multipath[n]);</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">bool</span> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a944bb181ffe0b3abc69e345ae88fbfc1">is_anchor</a>(uint8_t m, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_matr[m][3], uint32_t point[3]);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keywordtype">void</span> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a2776d1c18727f8feb5f0a83a6963e957">sim_UWB_dist</a>(uint8_t m, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_matrix[m][3], uint32_t exact_point[],</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> sigma, uint8_t n, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> multipath[n], <span class="keywordtype">int</span> seed,</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> r_noised_vec[]);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">void</span> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a6530e8d8955c511d3452748fec987a39">get_optimal_partial_ref_matrix</a>(uint8_t anchors_num,</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_matrix[anchors_num][3],</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  uint8_t k, uint8_t optimal_anchors_comb[k],</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> opt_partial_ref_matrix[k][3]);</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">void</span> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a540837de8e8a9d4e5dbaac1814b19b5e">get_optimal_partial_r_noised_vec</a>(uint8_t k, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> r_noised_vec[],</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  uint8_t optimal_anchors_comb[k],</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> opt_sub_r_noised_vec[k]);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">void</span> <a class="code" href="multipath__dist__detection__mitigation_8h.html#a2840a12d90b5b26b59d50f449f754fbd">recog_mitigate_multipath</a>(uint8_t k, uint8_t m, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_Matrix[m][3],</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> r_noised_vec[m],</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  uint8_t anchors_optimal[k],</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> start_optimal[3]);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="preprocessor">#endif </span><span class="comment">/* POSITIONING_ROBUST_OTF_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a944bb181ffe0b3abc69e345ae88fbfc1"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a944bb181ffe0b3abc69e345ae88fbfc1">is_anchor</a></div><div class="ttdeci">bool is_anchor(uint8_t m, matrix_t ref_matr[m][3], uint32_t point[3])</div><div class="ttdoc">Determine if a point is an anchor or not.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00065">multipath_dist_detection_mitigation.c:65</a></div></div>
<div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a540837de8e8a9d4e5dbaac1814b19b5e"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a540837de8e8a9d4e5dbaac1814b19b5e">get_optimal_partial_r_noised_vec</a></div><div class="ttdeci">void get_optimal_partial_r_noised_vec(uint8_t k, matrix_t r_noised_vec[], uint8_t optimal_anchors_comb[k], matrix_t opt_sub_r_noised_vec[k])</div><div class="ttdoc">Compute noised distances corresponding to the optimal partial matrix.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00123">multipath_dist_detection_mitigation.c:123</a></div></div>
<div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a2840a12d90b5b26b59d50f449f754fbd"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a2840a12d90b5b26b59d50f449f754fbd">recog_mitigate_multipath</a></div><div class="ttdeci">void recog_mitigate_multipath(uint8_t k, uint8_t m, matrix_t ref_Matrix[m][3], matrix_t r_noised_vec[m], uint8_t anchors_optimal[k], matrix_t start_optimal[3])</div><div class="ttdoc">Implement the Multipath Distance Detection and Mitigation (MDDM) algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00133">multipath_dist_detection_mitigation.c:133</a></div></div>
<div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a38019260396a33562d5a1912c691c26a"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a38019260396a33562d5a1912c691c26a">get_exact_distance_to_anchor</a></div><div class="ttdeci">matrix_t get_exact_distance_to_anchor(matrix_t ref_point[], uint32_t exact_point[])</div><div class="ttdoc">Computes the exact distance between a mobile station and a reference station.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00042">multipath_dist_detection_mitigation.c:42</a></div></div>
<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>
<div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a6530e8d8955c511d3452748fec987a39"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a6530e8d8955c511d3452748fec987a39">get_optimal_partial_ref_matrix</a></div><div class="ttdeci">void get_optimal_partial_ref_matrix(uint8_t anchors_num, matrix_t ref_matrix[anchors_num][3], uint8_t k, uint8_t optimal_anchors_comb[k], matrix_t opt_partial_ref_matrix[k][3])</div><div class="ttdoc">Compute the optimal partial matrix including reference points.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00108">multipath_dist_detection_mitigation.c:108</a></div></div><div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a5609107d45b6abfa6614fc79c56273c8"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a5609107d45b6abfa6614fc79c56273c8">is_member</a></div><div class="ttdeci">bool is_member(matrix_t vector, uint8_t n, matrix_t multipath[n])</div><div class="ttdoc">Determine if a candidate is a multipath or not.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00055">multipath_dist_detection_mitigation.c:55</a></div></div>
<div class="ttc" id="amatrix_8h_html_af38ac6b76d645fea9abd6caeb4d9dd31"><div class="ttname"><a href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a></div><div class="ttdeci">#define matrix_t</div><div class="ttdoc">Define the data type of the matrix elements.</div><div class="ttdef"><b>Definition:</b> <a href="matrix_8h_source.html#l00038">matrix.h:38</a></div></div>
<div class="ttc" id="amultipath__dist__detection__mitigation_8h_html_a2776d1c18727f8feb5f0a83a6963e957"><div class="ttname"><a href="multipath__dist__detection__mitigation_8h.html#a2776d1c18727f8feb5f0a83a6963e957">sim_UWB_dist</a></div><div class="ttdeci">void sim_UWB_dist(uint8_t m, matrix_t ref_matrix[m][3], uint32_t exact_point[], matrix_t sigma, uint8_t n, matrix_t multipath[n], int seed, matrix_t r_noised_vec[])</div><div class="ttdoc">Simulate an UWB-based localization system.</div><div class="ttdef"><b>Definition:</b> <a href="multipath__dist__detection__mitigation_8c_source.html#l00078">multipath_dist_detection_mitigation.c:78</a></div></div>
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