{"id":3068,"date":"2021-02-17T12:16:44","date_gmt":"2021-02-17T17:16:44","guid":{"rendered":"http:\/\/blog.espol.edu.ec\/girni\/?p=3068"},"modified":"2021-02-17T12:16:44","modified_gmt":"2021-02-17T17:16:44","slug":"5-5-localiza-por-trilateracion-revisa-un-punto","status":"publish","type":"post","link":"https:\/\/blog.espol.edu.ec\/girni\/5-5-localiza-por-trilateracion-revisa-un-punto\/","title":{"rendered":"5.5 Localiza por Trilateraci\u00f3n \u2013 Revisa un punto"},"content":{"rendered":"

Para revisar los resultados de un solo punto, de todos los resultados anteriores, se realiza una gr\u00e1fica que muestre los c\u00edrculos de cada baliza con los radios de las distancias estimadas.<\/p>\n

\"\"<\/a><\/p>\n

La gr\u00e1fica permite observar los detalles de trilateraci\u00f3n para ese punto en particular.<\/p>\n

Resultados: \r\nbaricentro:  [ 614804.97 9762762.46]\r\nbar_error:   72.84\r\npoligono x:  [614760.66 614776.52 614877.73]\r\npoligono y:  [9762742.69 9762778.91 9762765.77]\r\n<\/pre>\n
Por ejemplo para el caso del punto 'FIEC130' del que no se registr\u00f3 se\u00f1al desde 'gtwFCNM' se tiene:<\/p>\n
\"\"<\/a><\/p>\n
\n
Algoritmo Python<\/h2>\n
# trilaterando - gr\u00e1fica de un punto<\/span>\r\n# Girni 2020-10-07 propuesta: edelros@espol.edu.ec<\/span>\r\nimport<\/span> numpy as<\/span> np\r\nimport<\/span> matplotlib.pyplot as<\/span> plt\r\nimport<\/span> pandas as<\/span> pd\r\nimport<\/span> girni_lora_libreria as<\/span> girni\r\n    \r\n# INGRESO<\/span>\r\ncadapunto = 'FIEC111'<\/span>\r\n\r\nmodo       = 'rx'<\/span>\r\nmedida     = 'rssi'<\/span>\r\narch_trilatera = 'rsmP07_'<\/span>+medida+'trilateraSector01.txt'<\/span>\r\n\r\n# Referencias<\/span>\r\nbaliza  = {'d1'<\/span>:'gtwRECT'<\/span>,\r\n           'd2'<\/span>:'gtwFIEC'<\/span>,\r\n           'd3'<\/span>:'gtwFCNM'<\/span>}\r\ntolera = 1e-8\r\n\r\n# PROCEDIMIENTO <\/span>\r\nbaliza_key = list<\/span>(baliza.keys())\r\nbaliza_val = list<\/span>(baliza.values())\r\n\r\n# leer datos<\/span>\r\ntabla = pd.read_csv(arch_trilatera, index_col='etiqueta'<\/span>)\r\ntabla = pd.DataFrame(tabla)\r\n\r\n# Revisa indices<\/span>\r\nexiste = 0\r\nif<\/span> cadapunto in<\/span> tabla.index:\r\n    # coordenadas de baliza<\/span>\r\n    coordbaliza = {}\r\n    for<\/span> cadabaliza in<\/span> baliza:\r\n        cualbaliza = baliza[cadabaliza]\r\n        coordbaliza[cadabaliza] = [tabla['c_este'<\/span>][cualbaliza]]\r\n        coordbaliza[cadabaliza].append(tabla['c_norte'<\/span>][cualbaliza])\r\n    existe = 1\r\n    # coordenadas GPS del punto<\/span>\r\n    c_este  = tabla['c_este'<\/span>][cadapunto]\r\n    c_norte = tabla['c_norte'<\/span>][cadapunto]\r\n\r\n    # coordenadas por trilateraci\u00f3n<\/span>\r\n    punto = {}\r\n    ubicados = np.zeros(4,dtype=int<\/span>)\r\n    for<\/span> i in<\/span> range<\/span>(0,3,1):\r\n        punto[i] = {}\r\n        cuenta = 0\r\n        for<\/span> unabaliza in<\/span> baliza:\r\n            punto[i][unabaliza] = tabla['dist'<\/span>+str<\/span>(i)+'_'<\/span>+unabaliza][cadapunto]\r\n            # si existe distancia<\/span>\r\n            if<\/span> not<\/span>(np.isnan(punto[i][unabaliza])):\r\n                cuenta = cuenta + 1\r\n        if<\/span> cuenta>0:\r\n            ubicados[3]= ubicados[3] + 1\r\n\r\n    encontrado = tabla['encontrado'<\/span>][cadapunto]\r\n    if<\/span> not<\/span>(np.isnan(encontrado)):\r\n        encontrado = int<\/span>(encontrado)\r\n    else<\/span>:\r\n        encontrado = 0\r\n    # trilatera el  punto<\/span>\r\n    raiztodas = girni.intersectacirculos(punto[encontrado],coordbaliza,tolera)\r\n    todasx = raiztodas[0]\r\n    todasy = raiztodas[1]\r\n    if<\/span> len<\/span>(todasx)>0:\r\n        resultado = girni.trilatera(punto[encontrado],coordbaliza,tolera)\r\n    \r\n# SALIDA<\/span>\r\nprecision=2\r\nnp.set_printoptions(precision)\r\nif<\/span> existe ==1:\r\n    if<\/span> len<\/span>(todasx)>0: \r\n        print<\/span>('intersectados: '<\/span>)\r\n        print<\/span>(np.array(todasx))\r\n        print<\/span>(np.array(todasy))\r\n        print<\/span>('\\nResultados: '<\/span>)\r\n        print<\/span>('baricentro: '<\/span>,np.array(resultado['baricentro'<\/span>]))\r\n        print<\/span>('bar_error:  '<\/span>,np.round(resultado['barerror'<\/span>],precision))\r\n        print<\/span>('poligono x: '<\/span>,np.array(resultado['poligono'<\/span>][0]))\r\n        print<\/span>('poligono y: '<\/span>,np.array(resultado['poligono'<\/span>][1]))\r\nelse<\/span>:\r\n    print<\/span>('El punto indicado no existe'<\/span>)\r\n    \r\n# Grafica<\/span>\r\nif<\/span> existe ==1:\r\n    figura = plt.figure()\r\n    grafica = figura.add_subplot(111)\r\n    grafica.set_aspect('equal'<\/span>, adjustable='box'<\/span>)\r\n\r\n    # punto con GPS<\/span>\r\n    texto = '['<\/span>+str<\/span>(np.round(c_este,2))+', '<\/span>+str<\/span>(np.round(c_norte,2))+']'<\/span>\r\n    grafica.scatter(c_este,c_norte,\r\n                    marker='D'<\/span>, color = 'grey'<\/span>,\r\n                    label = texto)\r\n    grafica.annotate('gps'<\/span>,(c_este,c_norte),\r\n                     color ='grey'<\/span>)\r\n\r\n    # cotas de gr\u00e1fica<\/span>\r\n    unalista = list<\/span>(coordbaliza.values())\r\n    unalista = np.array(unalista)\r\n    cotax = [np.min(unalista[:,0]), np.max(unalista[:,0])]\r\n    cotay = [np.min(unalista[:,1]), np.max(unalista[:,1])]\r\n    cotadx = 0.15*(cotax[1]-cotax[0])\r\n    cotady = 0.15*(cotay[1]-cotay[0])\r\n    grafica.set_xlim(cotax[0]-cotadx,cotax[1]+cotadx)\r\n    grafica.set_ylim(cotay[0]-cotady,cotay[1]+cotady)\r\n\r\n    # raices<\/span>\r\n    k = len<\/span>(todasx)\r\n    if<\/span> k>0:\r\n        grafica.scatter(todasx,todasy,\r\n                        marker='+'<\/span>, color = 'magenta'<\/span>)\r\n        poligono = resultado['poligono'<\/span>]\r\n        p = len<\/span>(poligono[0])\r\n        for<\/span> j in<\/span> range<\/span>(0,p,1):\r\n            grafica.scatter(poligono[0][j],poligono[1][j],\r\n                            marker='*'<\/span>, color = 'blue'<\/span>)\r\n        # coodenada con trilatera<\/span>\r\n        baricentro = resultado['baricentro'<\/span>]\r\n        sumabaricentro = np.sum(baricentro)\r\n        if<\/span> not<\/span>(np.isnan(sumabaricentro)):\r\n            texto = '['<\/span>+str<\/span>(np.round(baricentro[0],2))\r\n            texto = texto +', '<\/span>+str<\/span>(np.round(baricentro[1],2))+']'<\/span>\r\n            grafica.scatter(baricentro[0],baricentro[1],\r\n                            marker='D'<\/span>, color = 'red'<\/span>,\r\n                            label = texto)\r\n            grafica.annotate('trilatera'<\/span>,\r\n                             (baricentro[0],baricentro[1]),\r\n                             color ='red'<\/span>)\r\n            uncirculo = plt.Circle((baricentro[0],baricentro[1]),\r\n                                   resultado['barerror'<\/span>],\r\n                                   ec = 'red'<\/span>, fc='None'<\/span>,\r\n                                   linestyle ='dashed'<\/span>)\r\n            grafica.add_artist(uncirculo)\r\n            \r\n    # circulos<\/span>\r\n    colores = ['blue'<\/span>,'orange'<\/span>,'lightgreen'<\/span>,'grey'<\/span>]\r\n    j = 0\r\n    for<\/span> fila in<\/span> coordbaliza:\r\n        xc = coordbaliza[fila][0]\r\n        yc = coordbaliza[fila][1]\r\n        r = punto[encontrado][fila]\r\n        uncolor = colores[j]\r\n        grafica.scatter(xc,yc,\r\n                        marker = '+'<\/span>,\r\n                        color  = uncolor)\r\n        grafica.annotate(fila,(xc,yc))\r\n        uncirculo = plt.Circle((xc,yc),r,\r\n                               ec = uncolor, fc='None'<\/span>,\r\n                               linestyle ='dotted'<\/span>)\r\n        grafica.add_artist(uncirculo)\r\n        j = j + 1\r\n    plt.title('Trilatera: '<\/span> + cadapunto)\r\n    plt.legend()\r\n    plt.xlabel('coordenada este'<\/span>)\r\n    plt.ylabel('coordenada norte'<\/span>)\r\n    plt.show()\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"
Para revisar los resultados de un solo punto, de todos los resultados anteriores, se realiza una gr\u00e1fica que muestre los c\u00edrculos de cada baliza con los radios de las distancias estimadas. La gr\u00e1fica permite observar los detalles de trilateraci\u00f3n para ese punto en particular. Resultados: baricentro: [ 614804.97 9762762.46] bar_error: 72.84 poligono x: [614760.66 614776.52 … <\/p>\n
Continuar leyendo \"5.5 Localiza por Trilateraci\u00f3n \u2013 Revisa un punto\"<\/span><\/a><\/p>\n","protected":false},"author":8043,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1463489],"tags":[],"class_list":["post-3068","post","type-post","status-publish","format-standard","hentry","category-localizacion-rssi-lora"],"_links":{"self":[{"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/posts\/3068","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/users\/8043"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/comments?post=3068"}],"version-history":[{"count":1,"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/posts\/3068\/revisions"}],"predecessor-version":[{"id":3070,"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/posts\/3068\/revisions\/3070"}],"wp:attachment":[{"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/media?parent=3068"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/categories?post=3068"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.espol.edu.ec\/girni\/wp-json\/wp\/v2\/tags?post=3068"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}