distancesmoothoptimalab.m

自己做的毕设

function   [a1,segmaX]=DistanceSmoothOptimalab(a,b,Dab,Wab,e)
%%% a(N*K) is the coordinates of the unknown nodes,N:is the number of the
%%% unknown nodes,K: is the dimensional(2 or 3 in fact)
%%% b(M*K) is the coordinates of the beacon nodes,M: is the number of the
%%% beacon nodes
%%% Dab(N*M) is the measured distance matrix between the unknown node and the
%%% beacon node
%%% Wab(N*M) is the weight matrix between the unknown node and the beacon node
%%% a1(N*K) is the returned coordinate matrix according to the input a
%%% segmaX is the error value according to the measured distance Da and the
%%% estimated coordinates
%%% Author: Xie Dongfeng
[row_a,column_a]=size(a);   %%% row_a=N
[row_b,column_b]=size(b);   %%% row_b=M
calculated_disab=L2_distance(a',b');
revisedDisab = zeros(row_a,row_b);
for i=1:row_a
    for j=1:row_b
        for k=1:column_a
            revisedDisab(i,j) = revisedDisab(i,j)+DistanceSmooth(a(i,k)-b(j,k),e)^2;
        end
        revisedDisab(i,j) = sqrt(revisedDisab(i,j));
    end
end
 
 elta3=0;
 for i=1:row_a
     for j=1:row_b
         elta3 = elta3+Wab(i,j)*Dab(i,j)*Dab(i,j);
     end
 end
 
 alfa3 = zeros(row_a,row_b,column_a);
 beta3 = zeros(row_a,row_b,column_a);
 P3X = zeros(row_a,column_a);
 for i=1:row_a
     for j=1:row_b
         for k=1:column_a
             if(abs(a(i,k)-b(j,k))<e)
                 alfa3(i,j,k) = 3.5-(a(i,k)-b(j,k))^2/(2*e*e);
             else
                 alfa3(i,j,k)=3;
             end
         end
     end
 end
 for i=1:row_a
     for j=1:row_b
         for k=1:column_a
             beta3(i,j,k) = DistanceSmooth((a(i,k)-b(j,k)),e)^2 - 4*(a(i,k)-b(j,k))^2+2*(a(i,k)-b(j,k))^2*alfa3(i,j,k);
         end
     end
 end
 for i=1:row_a
     for k=1:column_a
         for j=1:row_b
              P3X(i,k) = P3X(i,k)+Wab(i,j)*(a(i,k)-b(j,k))*alfa3(i,j,k);
         end
     end
 end
 
 test1=0;
 for i=1:row_a
     for j=1:row_b
         temp11=0;
         for k=1:column_a
             temp11=temp11+(a(i,k)-b(j,k))^2*alfa3(i,j,k);
         end
         test1=test1+temp11*Wab(i,j);
     end
 end
 
 V2=zeros(row_a,row_a);
 V3=zeros(row_a,row_b);
 V4=zeros(row_b,row_b);
 for i=1:row_a
     for j=1:row_b
         V2(i,i) = V2(i,i)+Wab(i,j);
     end
 end
 V3=Wab;
 for i=1:row_b
     for j=1:row_a
         V4(i,i)=V4(i,i)+Wab(j,i);
     end
 end
 lamata2 = trace(a'*V2*a)-2*trace(a'*V3*b)+trace(b'*V4*b);
 lamata3 = 0;
 for i=1:row_a
     for j=1:row_b
         TEMP3 = 0;
         for k=1:column_a
              TEMP3 = TEMP3 + beta3(i,j,k);
         end
         lamata3 = lamata3 + Wab(i,j) * TEMP3;
     end
 end
 %lamata2 = 0;
 %for i=1:row_a
   %  for j=1:row_b
     %    lamata2 = lamata2+Wab(i,j)*4*calculated_disab(i,j)^2;
   %  end
 %end
  elta4 = 4*lamata2-2*test1+lamata3;
 %elta4 = 4*lamata2-2*trace(a'*P3X)+lamata3;
 
 alfa4 = zeros(row_a,row_b,column_a);
 beta4 = zeros(row_a,row_b,column_a);
 P4X = zeros(row_a,column_a);
 for i=1:row_a
     for j=1:row_b
         for k=1:column_a
             if(abs(a(i,k)-b(j,k))<e)
                 alfa4(i,j,k) = DistanceSmooth((a(i,k)-b(j,k)),e)/e;
             else
                 alfa4(i,j,k)=1;
             end
         end
     end
 end
 for i=1:row_a
     for j=1:row_b
         for k=1:column_a
             if(abs(a(i,k)-b(j,k))<e)
                 beta4(i,j,k) = DistanceSmooth((a(i,k)-b(j,k)),e)*((a(i,k)-b(j,k))^2/e-DistanceSmooth((a(i,k)-b(j,k)),e));
             else
                 beta4(i,j,k) = 0;
             end
         end
     end
 end
 for i=1:row_a
     for k=1:column_a
         for j=1:row_b
                  P4X(i,k) = P4X(i,k)+Wab(i,j)*Dab(i,j)/revisedDisab(i,j)*(a(i,k)-b(j,k))*alfa4(i,j,k);
         end
     end
 end
 
  test2=0;
 for i=1:row_a
     for j=1:row_b
         temp21=0;
         for k=1:column_a
             temp21=temp21+(a(i,k)-b(j,k))^2*alfa4(i,j,k);
         end
         test2=test2+temp21*Wab(i,j)*Dab(i,j)/revisedDisab(i,j);
     end
 end
 
 lamata4 = 0;
 for i=1:row_a
     for j=1:row_b
         TEMP4 = 0;
         for k=1:column_a
              TEMP4 = TEMP4 + beta4(i,j,k);
         end
         lamata4 = lamata4 + Wab(i,j) * Dab(i,j)/revisedDisab(i,j)*TEMP4;
     end
 end
 %elta5 = -2*trace(a'*P4X)+2*lamata4;
  elta5 = -2*test2+2*lamata4;
 segmaX = elta3+elta4+elta5;
 a1 = inv(V2)*((P3X+P4X)/4+V3*b);