clear;clc;%初始化工作Ns = 40;Nn = 400;Vmax = 50;Xrange = 500;Yrange = 500;tr = 100;Rg = 0.5*0;step = 6;N = 50;ns_range = 200; %每個采樣盒子的最大采樣次數(shù)Nf = 1.5; %采樣盒子確定時，估計位置要擴大圓面積for i = 1:Ns Xseed(1,i) = unifrnd(Rg,(Xrange-Rg),1,1); Yseed(1,i) = unifrnd(Rg,(Yrange-Rg),1,1);endfor i = 1:Nn Xnode(1,i)=rand(1,1)*Xrange; Ynode(1,i)=rand(1,1)*Yrange; Xnode_g(1,i)=Xnode(1,i); %MCL估計位置,初始值設置為真實位置 Ynode_g(1,i)=Ynode(1,i);end%初始時刻的粒子群，for every nodefor i = 1:Nn for j = 1:N lx(i,j,1) = 0; ly(i,j,1) = 0; endendfor i = 1:Nn error(1,i) = 0;end%figure(1);%plot(Xseed,Yseed,'bo',Xnode,Ynode,'k*');%節(jié)點們開始運動，每次定位完成才開始下一次運動，這里假設這個定位過程耗時非常短%仿真步數(shù)for k=2:step %新的時刻，節(jié)點們先運動一下,RWP模型 if Ynode(k,i) > Yrange | Ynode(k,i) < 0 Xnode(k,i) = Xnode(k-1,i) + r*cos(thita); Ynode(k,i) = Ynode(k-1,i) - r*sin(thita); end end %對每一個node逐個進行定位 for i = 1:Nn %測試每個seed是否可以用來定位 A1 = ; %存儲1跳錨節(jié)點序號 A2 = ; %存儲2跳錨節(jié)點序號 for j = 1:Ns d1 = sqrt(Xnode(k,i)-Xseed(k,j)2+(Ynode(k,i)-Yseed(k,j)2); if d1<=tr A1 = A1 j; end end if temp1=0 && temp2=0 a1_x_min = ; a1_x_max = ; a1_y_min = ; a1_y_max = ; for m = 1:temp1 a1_x_min = a1_x_min Xseed(k,A1(m)-tr; a1_x_max = a1_x_max Xseed(k,A1(m)+tr; a1_y_min = a1_y_min Yseed(k,A1(m)-tr; a1_y_max = a1_y_max Yseed(k,A1(m)+tr; end Xanbox_min(k,i) = max(a1_x_min); Xanbox_max(k,i) = min(a1_x_max); Yanbox_min(k,i) = max(a1_y_min); Yanbox_max(k,i) = min(a1_y_max); end if temp1=0 && temp2=0 a2_x_min = ; a2_x_max = ; a2_y_min = ; a2_y_max = ; for m = 1:temp2 a2_x_min = a2_x_min Xseed(k,A2(m)-2*tr; a2_x_max = a2_x_max Xseed(k,A2(m)+2*tr; a2_y_min = a2_y_min Yseed(k,A2(m)-2*tr; a2_y_max = a2_y_max Yseed(k,A2(m)+2*tr; end Xanbox_min(k,i) = max(a2_x_min); Xanbox_max(k,i) = min(a2_x_max); Yanbox_min(k,i) = max(a2_y_min); Yanbox_max(k,i) = min(a2_y_max); end if temp1=0 && temp2=0 a1_x_min = ; a1_x_max = ; a1_y_min = ; a1_y_max = ; for m = 1:temp1 a1_x_min = a1_x_min Xseed(k,A1(m)-tr; a1_x_max = a1_x_max Xseed(k,A1(m)+tr; a1_y_min = a1_y_min Yseed(k,A1(m)-tr; a1_y_max = a1_y_max Yseed(k,A1(m)+tr; end a2_x_min = ; a2_x_max = ; a2_y_min = ; a2_y_max = ; for m = 1:temp2 a2_x_min = a2_x_min Xseed(k,A2(m)-2*tr; a2_x_max = a2_x_max Xseed(k,A2(m)+2*tr; a2_y_min = a2_y_min Yseed(k,A2(m)-2*tr; a2_y_max = a2_y_max Yseed(k,A2(m)+2*tr; end a12_x_min = max(a1_x_min) max(a2_x_min); a12_x_max = min(a1_x_max) min(a2_x_max); a12_y_min = max(a1_y_min) max(a2_y_min); a12_y_max = min(a1_y_max) min(a2_y_max); Xanbox_min(k,i) = max(a12_x_min); Xanbox_max(k,i) = min(a12_x_max); Yanbox_min(k,i) = max(a12_y_min); Yanbox_max(k,i) = min(a12_y_max); end % 以上是錨盒子的獲取過程 %接下來要獲取采樣盒子，每個粒子都要有一個采樣盒子，然后還要進行采樣，每個采樣盒子的采樣都要有一個次數(shù)限制，這里還是要分四種情況 %第一種情況 if temp1=0 && temp2=0 Xnode_g(k,i)=Xnode_g(k-1,i); Ynode_g(k,i)=Ynode_g(k-1,i); for j = 1:N lx(i,j,k) = 0; %周圍沒有錨節(jié)點，沒法進行定位，則粒子群全部置零 ly(i,j,k) = 0; end end %第二種情況 的 上一時間有錨節(jié)點，也就是有采樣粒子的更新 if temp1=0 && temp2=0 && sum(lx(i,:,k-1)=0 for j = 1:N sambox1 = Xanbox_min(k,i) Xnode_g(k-1,i)-Nf*Vmax; sambox2 = Xanbox_max(k,i) Xnode_g(k-1,i)+Nf*Vmax; sambox3 = Yanbox_min(k,i) Ynode_g(k-1,i)-Nf*Vmax; sambox4 = Yanbox_max(k,i) Ynode_g(k-1,i)+Nf*Vmax; Xsambox_min(i,j,k) = max(sambox1); Xsambox_max(i,j,k) = min(sambox2); Ysambox_min(i,j,k) = max(sambox3); Ysambox_max(i,j,k) = min(sambox4); %增加一步判斷項，若是錨盒子和運動圓能夠有交集，就使用交集，如果沒有交集，則使用錨盒子 if Xsambox_min(i,j,k)>=Xsambox_max(i,j,k) | Ysambox_min(i,j,k)>=Ysambox_max(i,j,k) Xsambox_min(i,j,k) = Xanbox_min(k,i); Xsambox_max(i,j,k) = Xanbox_max(k,i); Ysambox_min(i,j,k) = Yanbox_min(k,i); Ysambox_max(i,j,k) = Yanbox_max(k,i); end %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); ns = 1; %濾波 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end %進行最終的判斷 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end if d1(m)>tr and = and 1; end end if sum(and)=0 lx(i,j,k) = 0; ly(i,j,k) = 0; end end %至此 節(jié)點 i 的粒子群已經(jīng)得到 %下面是進行定位，粒子群的優(yōu)化 num_zero = 0; for j = 1:N if lx(i,j,k) = 0 num_zero = num_zero+1; end end %k時刻的定位位置 end %第二種情況 的 上一時間沒有錨節(jié)點，沒有采樣粒子的更新，那么這種情況下 采樣盒子就是錨盒子 if temp1=0 && temp2=0 && sum(lx(i,:,k-1)=0 for j = 1:N sambox1 = Xanbox_min(k,i) ; sambox2 = Xanbox_max(k,i) ; sambox3 = Yanbox_min(k,i) ; sambox4 = Yanbox_max(k,i) ; Xsambox_min(i,j,k) = max(sambox1); Xsambox_max(i,j,k) = min(sambox2); Ysambox_min(i,j,k) = max(sambox3); Ysambox_max(i,j,k) = min(sambox4); %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); ns = 1; %濾波 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end if d1(m)>tr and = and 1; end end while(sum(and)=0 && ns = ns_range) %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); %濾波 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end if d1(m)>tr and = and 1; end end ns = ns+1; end %進行最終的判斷 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end if d1(m)>tr and = and 1; end end if sum(and)=0 lx(i,j,k) = 0; ly(i,j,k) = 0; end end %至此 節(jié)點 i 的粒子群已經(jīng)得到 %下面是進行定位，粒子群的優(yōu)化 num_zero = 0; for j = 1:N if lx(i,j,k) = 0 num_zero = num_zero+1; end end %k時刻的定位位置 if num_zero = N Xnode_g(k,i) = Xnode_g(k-1,i); Ynode_g(k,i) = Ynode_g(k-1,i); end if num_zero = N Xnode_g(k,i) = sum(lx(i,:,k)/(N-num_zero); Ynode_g(k,i) = sum(ly(i,:,k)/(N-num_zero); end %粒子群補全N個 if num_zero = N for j = 1:N lx(i,j,k) = 0; ly(i,j,k) = 0; end end if num_zero = N for j = 1:N if lx(i,j,k) = 0 lx(i,j,k) = Xnode_g(k,i); ly(i,j,k) = Ynode_g(k,i); end end end end %第三種情況 的 上一時間有錨節(jié)點，也就是有采樣粒子的更新 if temp1=0 && temp2=0 && sum(lx(i,:,k-1)=0 for j = 1:N sambox1 = Xanbox_min(k,i) Xnode_g(k-1,i)-Nf*Vmax; sambox2 = Xanbox_max(k,i) Xnode_g(k-1,i)+Nf*Vmax; sambox3 = Yanbox_min(k,i) Ynode_g(k-1,i)-Nf*Vmax; sambox4 = Yanbox_max(k,i) Ynode_g(k-1,i)+Nf*Vmax; Xsambox_min(i,j,k) = max(sambox1); Xsambox_max(i,j,k) = min(sambox2); Ysambox_min(i,j,k) = max(sambox3); Ysambox_max(i,j,k) = min(sambox4); %增加一步判斷項，若是錨盒子和運動圓能夠有交集，就使用交集，如果沒有交集，則使用錨盒子 if Xsambox_min(i,j,k)>=Xsambox_max(i,j,k) | Ysambox_min(i,j,k)>=Ysambox_max(i,j,k) Xsambox_min(i,j,k) = Xanbox_min(k,i); Xsambox_max(i,j,k) = Xanbox_max(k,i); Ysambox_min(i,j,k) = Yanbox_min(k,i); Ysambox_max(i,j,k) = Yanbox_max(k,i); end %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); ns = 1; %濾波 and = ; for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end while(sum(and)=0 && ns = ns_range) %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); %濾波 and = ; for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end ns = ns+1; end %進行最終的判斷 and = ; for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end if sum(and)=0 lx(i,j,k) = 0; ly(i,j,k) = 0; end end %至此 節(jié)點 i 的粒子群已經(jīng)得到 %下面是進行定位，粒子群的優(yōu)化 num_zero = 0; for j = 1:N if lx(i,j,k) = 0 num_zero = num_zero+1; end end %k時刻的定位位置 if num_zero = N Xnode_g(k,i) = Xnode_g(k-1,i); Ynode_g(k,i) = Ynode_g(k-1,i); end if num_zero = N Xnode_g(k,i) = sum(lx(i,:,k)/(N-num_zero); Ynode_g(k,i) = sum(ly(i,:,k)/(N-num_zero); end %粒子群補全N個 if num_zero = N for j = 1:N lx(i,j,k) = 0; ly(i,j,k) = 0; end end if num_zero = N for j = 1:N if lx(i,j,k) = 0 lx(i,j,k) = Xnode_g(k,i); ly(i,j,k) = Ynode_g(k,i); end end end end %第三種情況 的 上一時間沒有錨節(jié)點，也就是沒有采樣粒子的更新，這種情況下采樣盒子就是錨盒子 end while(sum(and)=0 && ns = ns_range) %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); %濾波 and = ; for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end ns = ns+1; end %進行最終的判斷 and = ; for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end if sum(and)=0 lx(i,j,k) = 0; ly(i,j,k) = 0; end end %至此 節(jié)點 i 的粒子群已經(jīng)得到 %下面是進行定位，粒子群的優(yōu)化 num_zero = 0; for j = 1:N if lx(i,j,k) = 0 num_zero = num_zero+1; end end %k時刻的定位位置 if num_zero = N Xnode_g(k,i) = Xnode_g(k-1,i); Ynode_g(k,i) = Ynode_g(k-1,i); end if num_zero = N Xnode_g(k,i) = sum(lx(i,:,k)/(N-num_zero); Ynode_g(k,i) = sum(ly(i,:,k)/(N-num_zero); end %粒子群補全N個 if num_zero = N for j = 1:N lx(i,j,k) = 0; ly(i,j,k) = 0; end end if num_zero = N for j = 1:N if lx(i,j,k) = 0 lx(i,j,k) = Xnode_g(k,i); ly(i,j,k) = Ynode_g(k,i); end end end end %第四種情況 的 上一時間有錨節(jié)點，也就是有采樣粒子的更新 if temp1=0 && temp2=0 && sum(lx(i,:,k-1)=0 for j = 1:N sambox1 = Xanbox_min(k,i) Xnode_g(k-1,i)-Nf*Vmax; sambox2 = Xanbox_max(k,i) Xnode_g(k-1,i)+Nf*Vmax; sambox3 = Yanbox_min(k,i) Ynode_g(k-1,i)-Nf*Vmax; sambox4 = Yanbox_max(k,i) Ynode_g(k-1,i)+Nf*Vmax; Xsambox_min(i,j,k) = max(sambox1); Xsambox_max(i,j,k) = min(sambox2); Ysambox_min(i,j,k) = max(sambox3); Ysambox_max(i,j,k) = min(sambox4); %增加一步判斷項，若是錨盒子和運動圓能夠有交集，就使用交集，如果沒有交集，則使用錨盒子 if Xsambox_min(i,j,k)>=Xsambox_max(i,j,k) | Ysambox_min(i,j,k)>=Ysambox_max(i,j,k) Xsambox_min(i,j,k) = Xanbox_min(k,i); Xsambox_max(i,j,k) = Xanbox_max(k,i); Ysambox_min(i,j,k) = Yanbox_min(k,i); Ysambox_max(i,j,k) = Yanbox_max(k,i); end %從采樣盒子里采樣 %從采樣盒子里采樣 lx(i,j,k) = unifrnd(Xsambox_min(i,j,k),Xsambox_max(i,j,k),1,1); ly(i,j,k) = unifrnd(Ysambox_min(i,j,k),Ysambox_max(i,j,k),1,1); %濾波 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end if d1(m)>tr and = and 1; end end for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end ns = ns+1; end %進行最終的判斷 and = ; for m = 1:temp1 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A1(m)2+(ly(i,j,k)-Yseed(k,A1(m)2); if d1(m)<=tr and = and 0; end if d1(m)>tr and = and 1; end end for m = 1:temp2 d1(m) = sqrt(lx(i,j,k)-Xseed(k,A2(m)2+(ly(i,j,k)-Yseed(k,A2(m)2); if d1(m)>tr && d1(m)<=2*tr and = and 0; else and = and 1; end end if sum(and)=0 lx(i,j,k) = 0; ly(i,j,k) = 0; end end %至此 節(jié)點 i 的粒子群已經(jīng)得到 %下面是進行定位，粒子群的優(yōu)化 num_zero = 0; for j = 1:N if lx(i,j,k) = 0 num_zero = num_zero+1; end end %k時刻的定位位置 if num_zero = N Xnode_g(k,i) = Xnode_g(k-1,i); Ynode_g(k,i) = Ynode_g(k-1,i);