mobi.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=4500;
comR=15;
anchorN=2;
derror=1;
lim=1e-1;
cur=1000;%DX*(1-derror);
len=sqrt(DX^2+DY^2+DZ^2);
cur=100;
perror=0.9;
optR=sqrt((DX*DY/nodeNumber))/sqrt(2);
%anchorN=anchorN+1;
ra=zeros(1,6);
merr=zeros(1,6);
er=zeros(1,6);
for step=1:5
    step
 %derror=(tt-1)/10.0+1;
  ratio=0; 
 outR=0;
  
 %test1=0;
  myerror=0;
  err=0;
for m=1:100
    m
%%%%%%%%%init%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Countanchor=0;
flag=1;
for i=1:nodeNumber
   dx=rand(1,1)*(DX);
   while dx==0||dx==DX
        dx=rand(1,1)*(DX);
   end
  dy=rand(1,1)*(DY);
  while dy==0||dy==DY
        dy=rand(1,1)*(DY);
   end
   dz=rand(1,1)*(DZ);
   while dz==0||dz==DZ
        dz=rand(1,1)*(DZ);
   end
    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;
       end
   node(i).tPosition.x=dx;
   node(i).tPosition.y=dy;
   node(i).tPosition.z=dz;
   if node(i).type==0
	%
    switch flag
        case 1
     node(i).tPosition.x=dx;
     node(i).tPosition.y=0;
     flag=2;
        case 2
      node(i).tPosition.y=dy;
      node(i).tPosition.x=0;   
      flag=3;
        case 3 
    node(i).tPosition.x=dx;
     node(i).tPosition.y=DY;
     flag=4;
        case 4
       node(i).tPosition.y=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).res=0;
end
node(1).tPosition.x=0;
node(1).tPosition.y=0;
node(1).ePosition.x= node(1).tPosition.x;
node(1).ePosition.y= node(1).tPosition.y;
 node(2).tPosition.x=0;
node(2).tPosition.y=DY;
node(2).ePosition.x= node(2).tPosition.x;
node(2).ePosition.y= node(2).tPosition.y;

%{
%%%%%%%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);

dx=0;
%step=1;
%{
while move<3
 if dy~=DY
    dy=dy+1;
 else
     dy=DY;
     dx=dx-1;
 end
  if dx==0
     break;    
 end
%}
while dx<=100
  node(1).tPosition.x=dx;
 node(2).tPosition.x=dx;
for i=1:anchorN
    for j=1:anchorN
        if(i~=j)
            judge(i,j)=pdst(node(i),node(j));
        end
    end
end


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

for i=3:nodeNumber
    xt=node(i).tPosition.x;
     filter=abs(xt-dx);
    if (node(i).type~=0) && (node(i).finish~=2) && (filter<=step/2)
       for j=1:anchorN
          dd=dst(node(i),node(j));
          mean=dd;
          xi=100;
          sigma=mean/xi;
          dwe=normrnd(mean,sigma^0.5,1,1);
          while dwe<dd
              dwe=normrnd(mean,sigma^0.5,1,1);
          end
          dd=dwe;
          H=abs(node(i).Heigh-node(j).Heigh);
          r(j)=sqrt(dd^2-H^2);
        end
      found=0;
      a1=-1;
      a2=-1;
      x=0;y=0;
      tx=0;ty=0;
         for k=1:anchorN-1
          for j=k+1:anchorN
             if(k~=j)
               d1=r(k)+r(j);
               d2=abs(r(k)-r(j));
               ca1=judge(k,j)/d1;
                ca2=judge(k,j)/d2;
                %if ca1>=perror&&ca1<=1+(1-perror) || ca2>=perror&&ca2<=1+(1-perror)
              % if round(ca1*100/100)==1 || round(ca2*100/100)==1
                if ca1>=1||ca2>=1
                     a1=k;a2=j;
                      node(i).test=max([a1 a2]);
                      node(i).err=min([abs(d1-judge(k,j)) abs(d2-judge(k,j))]);
                       x1=node(a1).tPosition.x;
                      y1=node(a1).tPosition.y;
                      x2=node(a2).tPosition.x;
                     y2=node(a2).tPosition.y;
                  % if x1~=x2 || y1~=y2
                     found=1;
                    break;
                   %end
                 end
             end
          end
          if found==1
              break;
          end             
      end
  
       if found==1
       r1=r(a1);
       r2=r(a2);
      % [node(i).ePosition.x,node(i).ePosition.y]=mypoint(x1,y1,x2,y2,r1,r2);
        [x,y]=cal(x1,y1,x2,y2,r1,r2);
        node(i).ePosition.z=abs(node(a1).tPosition.z+(node(a1).Heigh-node(i).Heigh));
       
       while y>DY
       y=DY-(y-DY);
       y=abs(y);
       end
    if y>DY
           i
       end
       %%%%%%refine%%%%%%%%%%%%%%%%%%%%%%%%%%%%
       if node(i).finish==0
           node(i).finish=1;
        node(i).ePosition.x=x;node(i).ePosition.y=y;
       elseif node(i).finish==1
         tx=node(i).ePosition.x;ty=node(i).ePosition.y;
         node(i).ePosition.x=x;node(i).ePosition.y=y;
         node(i).finish=2;
       end
       res=0; 
       for j=1:anchorN
          dd=dst(node(i),node(j))*derror;  
          res=res+abs(edst(node(i),node(j))-dd);
       end
      res=res/comR/2;
       if node(i).res==0
           node(i).res=res;
       elseif node(i).res>res
           node(i).ePosition.x=tx;node(i).ePosition.y=ty;
           node(i).res=res;
           end
     
        
       end    
    end
if node(i).finish~=0
    %[node(i).ePosition.x,node(i).ePosition.y]=myrefine(node(i),node(1),node(2),derror);
end
end
      dx=dx+1;%step;
    end
    %%%%%%%%%%%%%count%%%%%%%%%%%%%%%%%%%%%%%%%
   myerror1=0;
   err1=0;
  locait=0; 
  for i=1:nodeNumber
    if (node(i).type==1 && node(i).finish~=0)
         myd=edst(node(i),node(i));
           %test1=test1+node(i).test;
         if myd<cur
         locait=locait+1;
         err1=err1+node(i).err;
        myerror1=myerror1+myd;
       else
         node(i).finish=3;
         outR=outR+1;
       end
    end
  end
  ratio=ratio+locait/(nodeNumber-anchorN);
  % test=test+test1/locait;
 myerror=myerror+myerror1/locait;
  err=err+err1/locait;
end
ra(step)=ratio/m;
merr(step)=myerror/m;
err(step)=err/m;
end
save data4500.dat ra merr err  -ascii
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%{
  %%%%%%%%%%%%%refine %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 for i=2:nodeNumber
   if node(i).finish~=0
   myres=node(i).res;
    minres=myres;
    reID=-1;
   for j=2:nodeNumber
       if (i~=j&&node(j).finish~=0)
         dd=dst(node(i),node(j));
         res=node(j).res;
       if dd<=comR && res<minres
           reID=j;
           reD=dd;
           minres=res;
       end           
       end
   end
   if reID~=-1&&node(i).finish~=0
   testd=eedst(node(i),node(reID));
   cost=abs(testd-reD);
   go=cost+lim;
   dy=node(i).ePosition.y;
   step=minres/5;
   dy=dy+step;
   node(i).ePosition.y=dy;
   testd=eedst(node(i),node(reID));
   if abs(testd-reD)<cost
       flag=1;
   else 
       flag=-1;
   end
   dy=dy-step;
    node(i).ePosition.y=dy;
   while cost>lim && cost<go
     node(i).ePosition.y=dy;  
     testd=eedst(node(i),node(reID));
     go=cost;
     cost=abs(testd-reD);
    dy=dy+flag*step;
   end
   end
 end
 end
 %%%%%%%%%%%%%%count%%%%%%%%%%%%%%%%%%%%%%%%%
 outR=0;
  locait=0;
  test1=0;
  myerror1=0;
  err=0;
  for i=1:nodeNumber
    if (node(i).type==1 && node(i).finish~=0)
         myd=edst(node(i),node(i));
           test1=test1+node(i).test;
         if myd<cur
         locait=locait+1;
         err=err+node(i).err;
        myerror1=myerror1+myd;
       else
         node(i).finish=3;
         outR=outR+1;
       end
    end
  end
  ratio=locait/(nodeNumber-anchorN)
  test=test1/locait;
myerror=myerror1/locait
  outR;
  err=err/locait
  %}
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 

%%%%%%%%%%%%%%%%%%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||node(i).finish==2)
    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
%}