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<P><STRONG><FONT color=#0000ff size=6>Localization GUI Help</FONT></STRONG></P>
<P><STRONG><FONT size=4>Installation</FONT></STRONG></P>
<P>The Localization GUI requires MATLAB version 6.5 or greater and the
Optimization Toolbox to run properly. The files may be extracted anywhere
on the user's system, and the program started by running "localization_gui"
from within the gui directory.</P>
<P><STRONG><FONT size=4>Usage</FONT></STRONG></P>
<P>The following two figures present the two main windows of the GUI with key
features marked by letters and described below.</P>
<H3 style="MARGIN: auto 0in"><IMG src="gui_main.jpg"></H3>
<P style="MARGIN: auto 0in"><IMG src="gui_config.jpg"></P>
<P style="MARGIN: auto 0in">
<TABLE cellSpacing=0 cellPadding=0 width="100%" border=1>
<TBODY>
<TR>
<TD><B>Point</B></TD>
<TD><B>Description</B></TD></TR>
<TR>
<TD>A</TD>
<TD>From the node selection panel the user can select whether to place
arrays (sensors), sources (emitters), or co-located nodes (lo-located
array and source). Once a node type is selected, they can be placed in the
scene by clicking at the desired grid location (B).</TD></TR>
<TR>
<TD>B</TD>
<TD>The sensor scene. Nodes placed here can be edited by right clicking on
them. This allows the user to set certain features of the node as known,
such as the node's orientation or position. Also the scene connectivity is
illustrated by blue lines connecting an array to any source that it is in
range of hearing. General connectivity can be controlled from the
configuration screen while individual links may be deleted or restored
here from the context menu brought up by right-clicking links or nodes.
</TD></TR>
<TR>
<TD>C</TD>
<TD>Pressing the "calculate bounds" button will calculate the Cramer Rao
lower bound for the location estimates, which are drawn as 2-sigma
ellipses around the nodes. The user will be prompted to set more locations
known if needed. Pressing the "localize" button calculates a maximum
likelihood estimate of the source locations based of off simulated arrival
times, arrival angles, or signal strengths as needed. The estimates are
plotted as x's in the scene. This button may be pressed several times to
display several realizations simultaneously, or use "File->Localize N
times..."</TD></TR>
<TR>
<TD>D</TD>
<TD>The zoom axes. Clicking on any node in the sensor scene will display
it and any estimates associated with it in the zoom axes.</TD></TR>
<TR>
<TD>E</TD>
<TD>Here the user can select whether to use signal times, angles, or
strengths in the localization process. This allows the user to evaluate
the relative performance of the various methods as well as investigate the
performance of hybrid schemes using multiple modes. The GUI enforces the
requirement that at least one modality be checked.</TD></TR>
<TR>
<TD>F</TD>
<TD>Actual and estimated parameters pertaining to the selected node.
Source nodes do not have orientations. Sensors and colocated sources
do.</TD></TR>
<TR>
<TD>G</TD>
<TD>Statistics about the entire sensor scene. 2-sigma statistics are
derived from the Cramer Rao lower bound. The absolute statistics come from
actual ML estimates. Orientation errors are only available when angle
information is used. </TD></TR>
<TR>
<TD>H</TD>
<TD>Menu Bar. Various options are available through the menu bar. In
particular the configuration screen is accessed through
"Config->Configure parameters..." Scenes may be saved and reloaded
through the "File" menu, and all sources may be given known or unknown
emission times via "Config->Mark all emission times..." option. This
allows for the evaluation of TDOA versus TOA scenarios. Various viewing
options are available from the "View" menu.</TD></TR>
<TR>
<TD>I</TD>
<TD>In this panel the user can select the standard deviation of the
arrival time observations to be used when "Use time information" is
checked on the main window. The propagation speed can also be changed
here. For example, acoustics may use a velocity and standard deviation of
340 m/s and 1ms respectively, and an RF system may have propagation
velocity 3e8 m/s with timing standard errors of 5ns. </TD></TR>
<TR>
<TD>J</TD>
<TD>The standard deviation of angle of arrival information. If angle
information is not being used, this value is ignored.</TD></TR>
<TR>
<TD>K</TD>
<TD>Parameters used in the received signal strength model which uses
log-distance pathloss plus log-normal shadowing as shown in panel M. These
parameters are ignored if "Use RSS information" is not checked on the main
window.</TD></TR>
<TR>
<TD>L</TD>
<TD>Connectivity determination. Here the user can select how the program
determines which sources can be heard by which arrays. Fully connected
means all sources are heard by all arrays. "k-sources" means that each
sensor can only hear emissions from the k-nearest sources. Similarly, all
sources less than a threshold distance can be heard by selecting the
distance threshold option. Individual links in the connectivity graph may
also be deleted by right-clicking on them in the main window.</TD></TR>
<TR>
<TD>M</TD>
<TD>This pannel summarizes the measurement models used in this program for
arrival times, arrival angles, received signal strengths. Only a subset of
these may be used depending on the selections on the main window.</TD></TR>
<TR>
<TD>N</TD>
<TD>Clicking "Apply" applies these settings to the nodes in the main
window. "Close" closes the configuration
window.</TD></TR></TBODY></TABLE></P></BODY></HTML>
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