tdoa_est.py 文件源码

def build_model_poly(detection_pairs, beacon_sdoa, nominal_sample_rate, deg=2):
    if len(detection_pairs) < deg + 1:
        # not enough beacon transmissions
        return None

    soa0 = np.array([d[0].soa for d in detection_pairs])
    soa1 = np.array([d[1].soa for d in detection_pairs])
    soa1at0 = soa1 + np.array(beacon_sdoa)
    coef = np.polyfit(soa1at0, soa0, deg)
    fit = np.poly1d(coef)
    # residuals = soa0 - fit(soa1at0)
    # print(np.mean(residuals))

    def evaluate(det0, det1):
        return (det0.soa - fit(det1.soa)) / nominal_sample_rate

    return evaluate