So I had a pretty productive and interesting 2 weeks (missed last week’s update so will combine with this)
- By the end of last week, we came together and formalized our mathematical models. We are going to go with 3 approaches: System of Linear Eqs, System of Non-Lins, and an Extended Kalman Filter Smoothened model. I worked on implementing the former 2 options.
- Then I implemented that math with a visualizer for each type where the TDoAs from the simulated tag will get passed to the algorithms and they will spit out a value that gets visualized back on the map
- Rhea was able to add in the algorithm for Kalman filter as well
- Here is an image of what the live visualization. The black circle is the tag (real location), purple square is linear-algorithm calculated location, green square is hyperbolic-algorithm calculated location, and blue square is the kalman filter algorithm calculated location.
- Then for this week I worked on adding in error-reporting so that we can calculate the Root Mean Squared Error for each algorithm
- Also have exported all values to CSVs so that we can store logs for each file and play back the data. I will be adding in a separate program that reads this CSV and visualizes the real path taken and the path modeled (for the paper).
- Here is sample of results for a basic movement of the tag around the lines of hte basketball court.
- Our RMSE (in meters) for that sample run was the following:
- Lin RMSE: 3.8608529220466794
nonLin RMSE: 0.14847987088052897
filter RMSE: 0.11742101999581132 - This is really promising because it lines up with our general expectations that Linear<Non-linear<filtered
- Right now this test is with 4 anchors which only leaves 2 equations for the linear. Hopefully Linear numbers become a lot more usable with 6 anchors
- Lin RMSE: 3.8608529220466794
- Our RMSE (in meters) for that sample run was the following:
- I am awaiting finalized hardware error numbers from Shiva to add in artificial error
- I will also be looking for a dataset of player movements for real NBA games so we can get realistic movement of players/tags.
- I will try to run a BUNCH of variations of tests with multiple player paths (real-NBA and simulated), multiple anchor configurations, and multiple error simulations.