磁信号强度和基于IMU的定位系统_Java_下载.zip

package com.bimal.mag_positioning; import android.content.pm.PackageManager; import android.database.Cursor; import android.database.sqlite.SQLiteDatabase; import android.graphics.PointF; import android.hardware.GeomagneticField; import android.hardware.Sensor; import android.hardware.SensorEvent; import android.hardware.SensorEventListener; import android.hardware.SensorManager; import android.os.Build; import android.os.Bundle; import android.os.Environment; import android.os.SystemClock; import android.support.annotation.Nullable; import android.support.v4.app.ActivityCompat; import android.support.v4.content.ContextCompat; import android.support.v7.app.AlertDialog; import android.support.v7.app.AppCompatActivity; import android.util.Log; import android.view.View; import android.widget.EditText; import android.widget.TextView; import android.widget.Toast; import com.bimal.mag_positioning.pdr.AccelerationEventListener; import com.bimal.mag_positioning.pdr.GyroscopeEventListener; import com.bimal.mag_positioning.pdr.MagneticfieldEventListener; import com.google.common.collect.HashMultimap; import com.google.common.collect.Multimap; import java.io.File; import java.io.FileInputStream; import java.io.FileOutputStream; import java.io.FileWriter; import java.io.IOException; import java.io.OutputStream; import java.util.ArrayList; import java.util.Calendar; import java.util.Collections; import java.util.Comparator; import java.util.HashMap; import java.util.List; import java.util.Locale; import java.util.Map; /** * Created by wmcs on 7/21/2017. */ public class InsertData extends AppCompatActivity implements SensorEventListener,View.OnClickListener { Sensor magnetometer; SensorManager sm; TextView magnetismx; TextView magnetismy; TextView magnetismz; TextView magnetismd; public Float xaxis; public Float yaxis; public Float zaxis; public Float xaxis_rot; public Float yaxis_rot; public Float zaxis_rot; public Float xbias; public Float ybias; public Float zbias; public Float average; public Float total; public Integer id; boolean recording = false; boolean stoprecord = false; public boolean isStart = false; public FileWriter file_writer; public boolean success = true; public boolean isInsert = false; public boolean calcdiff = false; public boolean islocalize = false; PointF get; public boolean isErrror = false; public double errorvalue; public Multimap<PointF, Float> result= HashMultimap.create(); //Sensor events private float [] RotationMatrix = new float[16]; private float [] mOrientationAngles = new float[3]; private SensorEvent MagnetData;; private SensorEvent RotVectorData; private SensorEvent AccelVector; public SensorEvent Gravity; public SensorEvent RawMagnetData; public SensorEvent GeoRotation; SensorEvent MagFast; //For tilt and azimuth public float [] earthAcc= new float[4]; private float gravity[] = new float[3]; private final float beta = (float) 0.8; float[] magValues = new float[3]; float[] values = new float[3]; Integer degreeDisplay; Integer degree; int offset; //Average filter private static int k; private float[] prevAvg; private static float alpha; private float[] avg; //For coordinates public static final int COL = 5; public static final int LOW = 10; public boolean ismeasure=false; //Array long curTimeAcc; long lastTimeAcc=System.currentTimeMillis(); public ArrayList<Float>sensorData= new ArrayList<>(); public ArrayList<Double> xcordList= new ArrayList<>(); public ArrayList<Double>ycordList = new ArrayList<>(); public ArrayList<Double>probAll= new ArrayList<>(); public ArrayList<Double>probFinalList= new ArrayList<>(); float sum_x=0; float sum_y=0; float probAdd=0; double probFinal=0; //test for pdr private static final String TAG = InsertData.class.getSimpleName(); private static final int RATE = SensorManager.SENSOR_DELAY_GAME; private AccelerationEventListener accEvent; private GyroscopeEventListener gyroEvent; private MagneticfieldEventListener magEvent; int stepCount = 0; float stepLength = 0.0f; float gyroValue = 0.0f; float azimuthValue = 0.0f; float imuLocationX = 0.0f; float imuLocationY = 0.0f; public boolean isRecord = false; public long startTime; public boolean isStep=false; private static final int PERMISSION_REQUEST_CODE=1; @Override protected void onCreate(@Nullable Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.insert_data); TextView localize=(TextView)findViewById(R.id.localization); if (Build.VERSION.SDK_INT >= 23) { if (checkPermission()) { // Code for above or equal 23 API Oriented Device // Your Permission granted already .Do next code } else { requestPermission(); // Code for permission } } else { // Code for Below 23 API Oriented Device // Do next code } sm = (SensorManager) getSystemService(SENSOR_SERVICE); sm.registerListener(this, sm.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD), SensorManager.SENSOR_DELAY_NORMAL); sm.registerListener(this, sm.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR), SensorManager.SENSOR_DELAY_NORMAL); magnetometer = sm.getDefaultSensor(magnetometer.TYPE_MAGNETIC_FIELD); if (magnetometer == null) { Toast.makeText(this, "Magnetometer not available", Toast.LENGTH_SHORT).show(); finish(); } //pdr accEvent = new AccelerationEventListener(this); gyroEvent = new GyroscopeEventListener(this, accEvent, magEvent); magEvent = new MagneticfieldEventListener(this, accEvent, gyroEvent); sm.registerListener(accEvent, sm.getDefaultSensor(Sensor.TYPE_ACCELEROMETER), RATE); sm.registerListener(gyroEvent, sm.getDefaultSensor(Sensor.TYPE_GYROSCOPE), RATE); sm.registerListener(magEvent, sm.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD), RATE); if (isStart == false) { isStart = true; startTime = SystemClock.uptimeMillis(); } magnetismx = (TextView) findViewById(R.id.magnetismx); magnetismy = (TextView) findViewById(R.id.magnetismy); magnetismz = (TextView) findViewById(R.id.magnetismz); magnetismd = (TextView) findViewById(R.id.magnetismd); magnetometer = sm.getDefaultSensor(magnetometer.TYPE_MAGNETIC_FIELD); if (magnetometer == null) { Toast.makeText(this, "Magnetometer not available", Toast.LENGTH_SHORT).show(); finish(); } if (isStart == false) { isStart = true; startTime = SystemClock.uptimeMillis(); } } private boolean checkPermission() { int result = ContextCompat.checkSelfPermission(InsertData.this, android.Manifest.permission.WRITE_EXTERNAL_STORAGE); if (result == PackageManager.PERMISSION_GRANTED) { return true; } else { return false; } } private void requestPermission() { if (ActivityCompat.shouldShowRequestPermissionRationale(InsertData.this, android.Manifest.permission.WRITE_EXTERNAL_STORAGE)) { Toast.makeText(InsertData.this, "Write External Storage permission allows us to do store images. Please allow this permission in App Settings.", Toast.LENGTH_LONG).show(); } else { ActivityCompat.requestPermissions(InsertData.this, new String[]{android.Manifest.permission.WRITE_EXTERNAL_STORAGE}, PERMISSION_REQUEST_CODE); } } @Override public void onRequestPermissionsResult(int requestCode,