rbusp.m

Euclidean节点定位是由美国路特葛斯大学利用距离矢量路由和GPS定位原理提供出一种分布式自主定位算法

%##################################################
%
%  RFUSP
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%parameters
clear;
DX=100;
DY=100;
DZ=100;
nodeNumber=1000;
comR=100;
anchorN=5;
derror=1;
cur=2.5;%DX*(1-derror);
perror=0.995;
optR=sqrt((DX*DY/nodeNumber))/sqrt(2);
%%%%%%%%%init%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Countanchor=0;
flag=1;
for i=1:nodeNumber
    node(i).ID=i;
   if(Countanchor<anchorN) 
    node(i).type=0; % 0 is anchor,1 is normal;
    Countanchor=Countanchor+1;
   else
       node(i).type=1;
    node(i).tPosition.x=rand(1,1)*(DX);
   node(i).tPosition.y=rand(1,1)*(DY);
   node(i).tPosition.z=rand(1,1)*(DZ);
   end
   if(node(i).type==0)
	%
    switch flag
        case 1
     node(i).tPosition.x=rand(1,1)*(DX);
     node(i).tPosition.y=0;
     flag=2;
        case 2
      node(i).tPosition.y=rand(1,1)*(DY);
      node(i).tPosition.x=0;   
      flag=3;
        case 3 
    node(i).tPosition.x=rand(1,1)*(DX);
     node(i).tPosition.y=DY;
     flag=4;
        case 4
       node(i).tPosition.y=rand(1,1)*(DY);
     node(i).tPosition.x=DX;
      flag=1;
    end       
       %}
       node(i).ePosition.x= node(i).tPosition.x;
     node(i).ePosition.y= node(i).tPosition.y;
    node(i).ePosition.z= node(i).tPosition.z;
    node(i).tPosition.z=0;
	node(i).finish=1;
    % hold on;
   % plot(node(i).tPosition.x,node(i).tPosition.y,'r*');
   else
     node(i).ePosition.x=-1;
     node(i).ePosition.y=-1;
     node(i).ePosition.z=-1;
     node(i).finish=0;
     end
   node(i).Heigh=(DZ)-node(i).tPosition.z;
   node(i).test=0;
   node(i).err=0;
end
%{
%%%%%%%plot the node%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
	for i=1:nodeNumber
 if(node(i).type==0)
     plot3(node(i).tPosition.x,node(i).tPosition.y,node(i).tPosition.z,'r*');
 else
    plot3(node(i).tPosition.x,node(i).tPosition.y,node(i).tPosition.z,'+');
 end
 hold on;
end
 grid on;
%%%%%%%%%%%%%%%%%%topoly establishment%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%}
%{
connectivity=0;
 for i=1:nodeNumber
    k=0;
    nodeA=node(i);
     for j=1:nodeNumber
         nodeB=node(j);
         H=abs(nodeA.Heigh-nodeB.Heigh);
       if((j~=i)&& dst(nodeA,nodeB)<=comR && H<comR)
         k=k+1;
           neighbor(i).near(k)=j;
          end
     end
      node(i).neighbors=k;
      connectivity=connectivity+k;
 end
connect=0;
 for i=1:nodeNumber
     if node(i).neighbors==0
         connect=connect+1;
         node(i).finish=-1;
       i;
     end
 end
 connect
 connectivity=connectivity/nodeNumber
%}
%{
%%%%%%%%%%%%%%%%%plot 3Dtopo%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:nodeNumber
    A=node(i);
    for j=1:node(i).neighbors
       B=node(neighbor(i).near(j));
        plotneighbor(A,B);
        %plotplane(A,B);
    end
end
%}
judge=zeros(anchorN,anchorN);
for i=1:anchorN
    for j=1:anchorN
        if(i~=j)
            judge(i,j)=pdst(node(i),node(j));
        end
    end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:nodeNumber
    if node(i).type~=0
       for j=1:anchorN
          dd=dst(node(i),node(j))*derror;
          H=abs(node(i).Heigh-node(j).Heigh)*derror;
          r(j)=sqrt(dd^2-H^2);
        end
      found=0;
      a1=-1;
      a2=-1;
        for k=1:anchorN-1
          for j=k+1:anchorN
             if(k~=j &&node(k).tPosition.x~=node(j).tPosition.x&&node(k).tPosition.y~=node(j).tPosition.y)
               d1=r(k)+r(j);
               d2=abs(r(k)-r(j));
               c1=d1/judge(k,j);
               c2=d2/judge(k,j);
                node(i).test=node(i).test+1;
               if c1>=perror&&c1<=1.000+(1-perror) || c2>=perror&&c2<=1.000+(1-perror)
                   a1=k;a2=j;
                   found=1;
                   e1=abs(d1-judge(k,j));
                   e2=abs(d2-judge(k,j));
                   e=min([e1 e2]);
                   node(i).err=e;
                   break;
               end
             end
          end
           if found==1
               break;
           end
      end
  
       if found==1
         x1=node(a1).tPosition.x;
         y1=node(a1).tPosition.y;
         x2=node(a2).tPosition.x;
         y2=node(a2).tPosition.y;
         r1=r(a1);
         r2=r(a2);
        %[node(i).ePosition.x,node(i).ePosition.y]=mypoint(x1,y1,x2,y2,r1,r2);
         [node(i).ePosition.x,node(i).ePosition.y]=cal(x1,y1,x2,y2,r1,r2);
       node(i).ePosition.z=abs(node(a1).tPosition.z+(node(a1).Heigh-node(i).Heigh));
       node(i).finish=1;
        end
      end
    end
    %%%%%%%%%%%%%count%%%%%%%%%%%%%%%%%%%%%%%%%
    myerror=0;
  outR=0;
  locait=0;
  test=0;
  err=0;
  for i=1:nodeNumber
    if (node(i).type==1 && node(i).finish==1)
         myd=edst(node(i),node(i));
        if myd/DX<cur
         locait=locait+1;
        myerror=myerror+myd;
        test=test+node(i).test;
         err=node(i).err+err;
       else
         node(i).finish=3;
         outR=outR+1;
       end
    end
  end
  ratio=locait/(nodeNumber-anchorN)
  myerror=myerror/locait
  test=test/locait
  err=err/locait
  outR
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %{
if derror<1
while outR~=0  
for i=1:nodeNumber
    z=1:3;
      if (node(i).type==1 && node(i).finish==3)
          c=0;
          for j=1:nodeNumber
              if (i~=j && node(j).finish==1)
              d1=abs(node(i).tPosition.x-node(j).tPosition.x);
              d2=abs(node(i).tPosition.y-node(j).tPosition.y);
               d3=abs(node(i).tPosition.z-node(j).tPosition.z);
               if d1<comR || d2<comR || d3<comR
                   c=c+1;
                  z(c)=j;
               end
              end
              if c==3
                  break;
              end
          end
            if c==3
             A=zeros(2,2);
              B=zeros(2,1);
              ex=zeros(2,1);
             last=z(3);
              x3=node(last).ePosition.x;
              y3=node(last).ePosition.y;
               z3=node(last).ePosition.z;
               d3=pdst(node(last),node(i))*(derror);
              for k=1:2
                  id=z(k);
                  x1=node(id).ePosition.x;
                 y1=node(id).ePosition.y;
                 z1=node(id).ePosition.z;
                 d1=pdst(node(id),node(i))*(derror);
                 A(k,1)=2*(x1-x3);A(k,2)=2*(y1-y3);
                 B(k,1)=(x1^2-x3^2)+(y1^2-y3^2)+(d3^2-d1^2);
                k=k+1;
                 end
            end
         % [ex,n]=locatCacul(A,B,0.001,1);
           if rank(A)==rank([A B])
            ex=A\B;
           % if (ex(1,1)>0&&ex(1,1)<DX)&& (ex(2,1)>0&&ex(2,1)<DY)
              node(i).ePosition.z=abs(node(last).tPosition.z+(node(last).Heigh-node(i).Heigh));
              node(i).ePosition.x=abs(ex(1,1));
               node(i).ePosition.y=abs(ex(2,1));
               
               %node(i).ePosition.z=abs(ex(3,1));
              if node(i).finish==3
               node(i).finish=1;
               outR=outR-1;
              end
           end
         % else
           end
  end   
end   
end

 %%%%%%%%%%%%%%count%%%%%%%%%%%%%%%%%%%%%%%%%
  myerror=0;
  outR=0;
  locait=0;
  for i=1:nodeNumber
    if (node(i).type==1 && node(i).finish==1)
         myd=edst(node(i),node(i));
         if myd/DX<cur
         locait=locait+1;
        myerror=myerror+myd;
       else
         node(i).finish=3;
       end
    end
  end
  ratio=locait/(nodeNumber-anchorN)
  myerror=myerror/locait/100
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %}
%
%%%%%%%%%%%%%%%%%%plot %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  for i=1:nodeNumber
 if(node(i).type==0)
     plot3(node(i).tPosition.x,node(i).tPosition.y,node(i).tPosition.z,'^');
 else
    if(node(i).finish==1)
    plot3(node(i).tPosition.x,node(i).tPosition.y,node(i).tPosition.z,'o');
    ploterr(node(i),node(i));
    plot3(node(i).ePosition.x,node(i).ePosition.y,node(i).ePosition.z,'r*');
    else
     plot3(node(i).tPosition.x,node(i).tPosition.y,node(i).tPosition.z,'kx');   
     end
 end
 hold on;
end
 grid on;
%}
%{
for i=1:anchorN
    A=node(i);
    for j=1:anchorN
       B=node(j);
        plotplane(A,B);
end
end
%}