def top_loc_grid_freq(data, mac, size):
results = []
drone_data = read_drone_data()
time_grouped = group_data(data, 0)
for time_group in time_grouped:
index_count = {}
for row in time_group[1]:
loc = find_location(row[1], drone_data)
loc_tup = (loc['x_m'], loc['y_m'])
index = grid_index(loc_tup, (X_OFFSET, Y_OFFSET), size)
index_tup = (index[0], index[1])
try:
index_count[index_tup][0] += 1
index_count[index_tup][1] += 100 + int(row[2])
except KeyError:
index_count[index_tup] = [1, 100 + int(row[2])]
top_loc = max(index_count,
key=lambda x: (index_count[x][0], index_count[x][1]))
res = get_xyz(top_loc, (X_OFFSET, Y_OFFSET), size)
results.append([mac, time_group[0], res[0], res[1]])
return results
def top_loc_signal(data, mac):
locs = []
drone_data = read_drone_data()
time_grouped = group_data(data, 0)
for time_group in time_grouped:
max_score = max(time_group[1], key=lambda x: x[2])
loc = find_location(max_score[1], drone_data)
locs.append([mac, time_group[0], loc["x_m"], loc["y_m"], loc["z_m"]])
return locs
def main(datafile=DEF_FILE_NAME):
data = read_data(datafile)
drone_data = read_drone_data()
drone_locs = {}
for index, row in drone_data.iterrows():
drone_locs[row["drone_id"]] = [float(row["x_m"]), float(row["y_m"]), float(row["z_m"])]
time_grouped = group_data(data[PI_MAC], 0)
sensors_per_time = []
for time_group in time_grouped:
ap_ids = []
sensors = []
used_sensors = set()
sorted_data = sorted(time_group[1], key=lambda x: x[2])
for sensor in sorted_data:
if(sensor[1] in used_sensors):
continue
used_sensors.add(sensor[1])
try:
loc = drone_locs[sensor[1]]
except KeyError:
continue
ap_ids.append(sensor[1])
sensors.append({'x': loc[0],
'y': loc[1],
'z': loc[2],
'signal': int(sensor[2])})
if count_unique_aps(ap_ids) > 3:
sensors_per_time.append([time_group[0], sensors])
else:
print('JAMMER')
for param in range(0, 301, 5):
gamma = param / 100
with open("../results/trilateration/results_trilateration_{}_{}.csv".format(SECONDS_GROUPING, gamma), "a") as f:
writer = csv.writer(f, delimiter=";")
writer.writerow(["sourcemac", "timestamp", "x_m", "y_m", "z_m", "eta"])
trilateration = Trilateration(gamma)
for row in sensors_per_time:
est = trilateration.get_location(row[1])
writer.writerow([PI_MAC, row[0]] + list(est.x))
def normal_grid_method(data, mac, size, std, method, alpha=0.5):
results = []
drone_data = read_drone_data()
prev_pos = None
prev_time = None
dimensions = get_dimensions(size)
std_matrix = create_std_matrix(std)
time_grouped = group_data(data, 0)
for time_group in time_grouped:
values = list(time_group[1])
g_data = [(item[0], item[1], item[2]) for item in values]
index_count = np.zeros(dimensions)
for row in g_data:
loc = find_location(row[1], drone_data)
if loc is None:
continue
loc_tup = (loc['x_m'], loc['y_m'])
index = grid_index(loc_tup, (X_OFFSET, Y_OFFSET), size)
index_tup = (index[0], index[1])
if method == 'signal_sum':
index_count[index_tup] += 100 + int(row[2])
elif method == 'freq':
index_count[index_tup] += 1
else:
index_count[index_tup] = max(100 + int(row[2]),
index_count[index_tup])
# make the matrix sum up to 1
index_count = index_count / np.sum(index_count)
if prev_pos is None or (time_group[0] - prev_time) > MAX_SECONDS_DIFF:
prev_pos = get_max_matrix_value(index_count)
else:
norm_matrix = create_norm_matrix((prev_pos[1], prev_pos[0]),
std_matrix, dimensions)
prev_pos = get_max_matrix_value(alpha * index_count +
(1 - alpha) * norm_matrix)
res = get_xyz(prev_pos, (X_OFFSET, Y_OFFSET), size)
prev_time = time_group[0]
results.append([mac, time_group[0], res[0], res[1]])
return results
def top_loc_grid_signal(data, mac, size):
results = []
drone_data = read_drone_data()
time_grouped = group_data(data, 0)
for time_group in time_grouped:
max_score = max(time_group[1], key=lambda x: x[2])
loc = find_location(max_score[1], drone_data)
loc_tup = (loc['x_m'], loc['y_m'])
index = grid_index(loc_tup, (X_OFFSET, Y_OFFSET), size)
index_tup = (index[0], index[1])
res = get_xyz(index_tup, (X_OFFSET, Y_OFFSET), size)
results.append([mac, time_group[0], res[0], res[1]])
return results
def top_loc_signal_sum(data, mac):
locs = []
drone_data = read_drone_data()
time_grouped = group_data(data, 0)
for time_group in time_grouped:
sums = {}
for row in time_group[1]:
try:
sums[row[1]] += 100 + int(row[2])
except KeyError:
sums[row[1]] = 100 + int(row[2])
max_score = max(sums, key=lambda x: sums[x])
loc = find_location(max_score, drone_data)
locs.append([mac, time_group[0], loc["x_m"], loc["y_m"], loc["z_m"]])
return locs
def top_loc_frequency(data, mac):
locs = []
drone_data = read_drone_data()
time_grouped = group_data(data, 0)
for time_group in time_grouped:
frequencies = {}
for row in time_group[1]:
try:
frequencies[row[1]][0] += 1
frequencies[row[1]][1] += 100 + int(row[2])
except KeyError:
frequencies[row[1]] = [1, 100 + int(row[2])]
max_score = max(frequencies,
key=lambda x: (frequencies[x][0], frequencies[x][1]))
loc = find_location(max_score, drone_data)
locs.append([mac, time_group[0], loc["x_m"], loc["y_m"], loc["z_m"]])
return locs