traindata.m

神经网络中的训练程序

t=1;
T=1;

%卡尔曼滤波器的参数
infraredsampletime=[-1,0];
infraredinitstate=[0 0 10 10];
infraredinnum=6;
infraredoutnum=22;
infraredp0=eye(4);
infraredH=[1 0 T 0 ;0 1 0 T;0 0 1 0 ;0 0 0 1 ];
infraredB=[ T*T/2 0 ;0 T*T/2 ;T 0;0 T ];
infraredG=[1;1;0;0];
infraredC=[1 0 0 0 ;0 1 0 0 ];

%v1模块的参数
H=infraredC;
A=infraredH;
num=23;
Q=0.2;
G=[1;1;0;0];


%V2模块参数
N=3;
%new added
pc=0.1;
mc=0.1;
ux=1;
uy=1;

indata=zeros(4,2400);
outdata=zeros(2,2400);
i=1;

%%%%%%%%%%%%%%%%%%%%%%%%以上是仿真需要的参数%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



%初始速度
vmin=0;
vmax=200;
deltaV=10;

%加速度范围
amin=1;
amax=20;
deltaA=1;

%噪声范围
noisemin=0.1;
noisemax=1;
deltaN=0.1;


for acel=1:20
    if acel>1
        ux=ux+deltaA;
        uy=uy+deltaA;
    end    
        for n=1:10            
            mc=mc+(n-1)*deltaN;
            sim('nnfilter');
            for v=1:10
                indata(1,i)=v1((v-1)+4);
                indata(2,i)=v2((v-1)+4);
                indata(3,i)=v12((v-1)+4);
                indata(4,i)=v22((v-1)+4);
                outdata(1,i)=ux;
                outdata(2,i)=uy;
                i=i+1;
            end;
        end
end

%重新设置一些参数来生成不同heading angel的数据
infraredinitstate=[0 0 100 100];
mc=0.1;

for acel=1:4
    if acel==1
        ux=20;
        uy=5;
    else
        ux=ux-5;
        uy=uy+5;
    end
     for v=1:10
        infraredinitstate=infraredinitstate+(v-1)*deltaV;
        for n=1:10
            mc=mc+(n-1)*deltaN;
            sim('nnfilter');
            v1mean=mean(v1(20:80));
            v2mean=mean(v2(20:80));
            v12mean=mean(v12(20:80));
            v22mean=mean(v22(20:80));
            indata(1,i)=v1mean;
            indata(2,i)=v2mean;
            indata(3,i)=v12mean;
            indata(4,i)=v22mean;
            outdata(1,i)=ux;
            outdata(2,i)=uy;
            i=i+1;
        end
     end
end

save('newdata','indata','outdata');