weights_cal.m

这是在uwb系统中,用TOA定位法的整个系统的仿真程序

function weight=weights_cal(bx,by,d)
%
%
%
        L_bx=length(bx);
        
        ang=0:pi/100:2*pi;
%         figure,hold on,grid on
        for k=1:L_bx
%             plot(bx(k)+d(k)*cos(ang),by(k)+d(k)*sin(ang),'b','linewidth',2)
        end
%         plot(bx,by,'r^','linewidth',2)

        com=combntns(1:L_bx,2);
        sz=size(com);
        

        int_x=[];int_y=[];
        clear k;
        for k=1:sz(1)
            [ex,ey]=cir_cir_intersection([bx(com(k,1)) bx(com(k,2))],[by(com(k,1)) by(com(k,2))],[d(com(k,1)) d(com(k,2))]);
            int_x=[int_x real(ex)];
            int_y=[int_y real(ey)];
%             plot(ex,ey,'o','linewidth',2)
        end
        
%         plot(int_x,int_y,'o','linewidth',2)
        
        
        flag=[];        cn=0;
        rint_x=[];rint_y=[];
        
        clear k;
        for k=1:length(int_x);
            for ki=1:L_bx
                if (int_x(k)-bx(ki))^2+(int_y(k)-by(ki))^2 <= (1+1e-3)*d(ki)^2;
                    flag(ki)=1;
                end
            end
            if sum(flag)==L_bx
                cn=cn+1;
                rint_x(cn)=int_x(k);
                rint_y(cn)=int_y(k);
            end
            flag=[];
        end
        
%         plot(rint_x,rint_y,'ro','linewidth',2)
%         axis([-4000 4000 -4000 4000])
        
        weight=[];
        
            clear k
            for ko=1:L_bx
                dis=sqrt((rint_x-bx(ko)).^2+(rint_y-by(ko)).^2);
                [m,mi]=min(dis);
                weight(ko)=dis(mi)/d(ko);
            end
                
        weight;

        9;