TDOA仿真,TDR仿真,matlab

function [rmse_c,rmse_T] = TDOAchan_Taylor_comparise(noise) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % 设置基站信息 % delta TDOA测量误差的标准差,用于产生Q矩阵 % M 参考基站外的基站数量 % Xb = 20;Yb = 100; %参考的基站坐标 % c 光速 % X 参考基站的坐标 % T: 雷达的扫描间隔，此时设为1秒 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% delta = noise; M=4; Xb = 20;Yb = 100;%参考的基站坐标 c=3e8; X = zeros(M,2); T = 1; %生成其他基站的坐标 a = 2*pi/M; for i=1:M X(i,1) = 3000*cos(a*(i-1)); X(i,2) = 3000*sin(a*(i-1)); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % 设置待测目标信息 % (xr0,yr0)目标初始坐标零点 % v：目标初速度，初始值为10m/s % a：加速度，初始值为0m/s2，此时加速度默认为不变 % POS1 POS2 POS3 POS4 chan算法经过两次估计，计算出的4个坐标 % POS1=WLS1_near;第一次WL结果（近场模型算法，精确模型） % POS2=WLS1_far;第一次WLS结果（远场模型算法，粗糙模型） % POS3=WLS2_near;%第二步WLS近场模型结果 % POS4=WLS2_far;%第二步WLS远场模型结果 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% xr0 = 0; yr0 = 0; v = 5; a = 0; %目标运动真实轨迹 x = xr0 ; y = 0.5*x ; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % 产生TDOA测量结果 % Ts 总时间 30s % Xnow,Ynow 当前真实坐标 % Pbs 基站坐标 % R TDOA测量值，包含误差N % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Ts = 100; Xnow = xr0; Ynow = yr0; %保存数据 Xreal = zeros(Ts,1); Yreal = zeros(Ts,1); for i1=1:Ts %计算目标当前位置,根据规定的目标运动轨迹计算 v = v + a; Xnow = Xnow + ((v^2)/2)^0.5; Ynow = Ynow + ((v^2)/2)^0.5; Xreal(i1) = Xnow; Yreal(i1) = Ynow; %产生TDOA测量结果 Rb = sqrt((Xnow - Xb)^2+(Ynow - Yb)^2);%移动台到参考基站的真实距离 N = normrnd(0,delta,1,M);%产生TDOA测量误差 Kb = Xb^2+Yb^2; R = zeros(M,1); for i=1:M %产生TDOA测量值 R(i) = -Rb+sqrt((Xnow - X(i,1))^2+(Ynow - X(i,2))^2)+N(i); end Q = (0.5*eye(M)+0.5*ones(M))*(delta^2); % 产生Q矩阵 Pbs = [Xb Yb;X]; N = 5; [POS1 POS2 POS3 POS4] = TDOA_Location(R,Pbs,Q,c); Xchan(i1) = POS2(1,1); Ychan(i1) = POS2(2,1); end %%绘制轨迹图 figure(1); plot(Xreal,Yreal,'--*r'); hold on plot(Xchan,Ychan,'--*g'); hold on xlabel('X坐标'); ylabel('Y坐标'); legend('真实轨迹','chan估计轨迹'); %%绘制误差图 e = zeros(Ts,1); sum = 0; for i=1:Ts e(i) = sqrt((Xreal(i) - Xchan(i))^2+(Yreal(i) - Ychan(i))^2); sum=e(i)+sum; end rmse_chan = sum/Ts figure(2); i=1:1:Ts; plot(i,e,'--*b'); xlabel('雷达扫描次数'); ylabel('距离误差'); hold on rmse_Taylor =Taylorforline(Xreal,Yreal,Pbs,delta) rmse_c = rmse_chan; rmse_T = rmse_Taylor;