clc
clear
T=1;
times=1;
sum=zeros(100,1);
sum1=zeros(100,1);
sum2=zeros(100,1);
z=zeros(200,1);
for m=1:times
xri1=zeros(4,1);
xri2=zeros(4,1);
alpha=120*pi/180;%%%%target direction目标航向
alpha1=330*pi/180;%浮标航向
xri1=[-1000 0 0 0]';%浮标1状态向量
xri2=[0 0 0 0]';
xrt=[1500 15000 10.29*sin(alpha) 10.29*cos(alpha)]';%目标状态向量
for i=1:100
pha=[1 0 i*T 0;0 1 0 i*T;0 0 1 0;0 0 0 1]; %%%state transfer matrix状态转移矩阵
Oistate1=pha*xri1;%浮标1运动状态向量
Oistate2=pha*xri2;
Tistate=pha*xrt;%目标运动状态向量
%%%%%%%%%%%%%CRLBCRLBCRLB%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
TT(:,i)=Tistate;
O1(:,i)=Oistate1;
O2(:,i)=Oistate2;
r1(i,1)=(Tistate(1)-Oistate1(1))^2+(Tistate(2)-Oistate1(2))^2;
r2(i,1)=(Tistate(1)-Oistate2(1))^2+(Tistate(2)-Oistate2(2))^2;
for l=1:i
b1(l,:)=[(TT(2,l)-O1(2,l))/r1(l),-(TT(1,l)-O1(1,l))/r1(l),-(i-l)*(TT(2,l)-O1(2,l))/r1(l),(i-l)*(TT(1,l)-O1(1,l))/r1(l)];
b2(l,:)=[(TT(2,l)-O2(2,l))/r2(l),-(TT(1,l)-O2(1,l))/r2(l),-(i-l)*(TT(2,l)-O2(2,l))/r2(l),(i-l)*(TT(1,l)-O2(1,l))/r2(l)];
end
FIM=b1'*b1/(0.1*pi/180)^2+b2'*b2/(0.1*pi/180)^2;
FF=inv(FIM);
mse(i,:)=sqrt(FF(1,1)+FF(2,2));%%%%%%误差CRLB
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
V1=(0.1*pi/180)*randn;%噪声
V2=(0.1*pi/180)*randn;
beta1=atan((Tistate(1)-Oistate1(1))/(Tistate(2)-Oistate1(2)));
beta2=atan((Tistate(1)-Oistate2(1))/(Tistate(2)-Oistate2(2)));
betam1(i,:)=beta1+V1;%%%measure加噪声后的方位角测量值
betam2(i,:)=beta2+V2;%%%measure加噪声后的方位角测量值
H=[cos(betam1(i,:)) -sin(betam1(i,:)) 0 0;cos(betam2(i,:)) -sin(betam2(i,:)) 0 0];
Ak=[1 0 i*T 0;0 1 0 i*T;0 0 1 0;0 0 0 1];%状态转移矩阵
z(2*i-1,:)=H(1,:)*Oistate1;% mathematic measure文献中的Z(t)
z(2*i,:)=H(2,:)*Oistate2;% mathematic measure
%A*iK=[1 0 i*T 0;0 1 0 i*T;0 0 1 0;0 0 0 1];
A([2*i-1,2*i],:)=H*Ak;
theta(:,i)=inv(A([1:2*i],:)'*A([1:2*i],:))*A([1:2*i],:)'*z([1:2*i],:);
r11=sqrt((Tistate(1)-Oistate1(1,1))^2+(Tistate(2)-Oistate1(2,1))^2);
r22=sqrt((Tistate(1)-Oistate2(1,1))^2+(Tistate(2)-Oistate2(2,1))^2);
w(2*i-1,2*i-1)=r11^2*(0.1*pi/180)^2;
w(2*i,2*i)=r22^2*(0.1*pi/180)^2;
betam11(i,:)=beta1+V1;%atan((Tistate(1)+i*T*theta(3,1)-Oistate1(1))/(Tistate(2)+i*T*theta(4,1)-Oistate1(2)));
betam22(i,:)=beta2+V2;%atan((Tistate(1)+i*T*theta(3,1)-Oistate2(1))/(Tistate(2)+i*T*theta(4,1)-Oistate2(2)));
mmse(i,:)=sqrt((theta(1,i)-Tistate(1))^2+(theta(2,i)-Tistate(2))^2);%%%%%%误差
mmmse(i,:)=sqrt((theta(1,i)-Tistate(1))^2+(theta(2,i)-Tistate(2))^2);%%%%%%误差
A1([2*i-1,2*i],:)=H*Ak;
if i>1
u=0.01;%调节系数
theta(:,1)=[1500 15000 10.29*sin(alpha) 10.29*cos(alpha)]';
%if i<4
theta1(:,i)=theta(:,i-1)+inv(A([1:2*i-2],:)'*A([1:2*i-2],:)+u*eye(size(A([1:2*i-2],:)'*A([1:2*i-2],:))))*A([1:2*i-2],:)'*z([1:2*i-2],:);
theta1(:,1)=[1500 15000 10.29*sin(alpha) 10.29*cos(alpha)]';
% else
% theta1=TH+inv(A1([1:2*i-2],:)'*A1([1:2*i-2],:)+u*eye(size(A1([1:2*i-2],:)'*A1([1:2*i-2],:))))*A1([1:2*i-2],:)'*z([1:2*i-2],:);
% end
betam11(i,:)=atan((theta(1,1)+(i)*T*theta1(3,i)-Oistate1(1))/(theta(2,1)+(i)*T*theta1(4,i)-Oistate1(2)));
betam22(i,:)=atan((theta(1,1)+(i)*T*theta1(3,i)-Oistate2(1))/(theta(2,1)+(i)*T*theta1(4,i)-Oistate2(2)));
H1=[cos(betam11(i,:)) -sin(betam11(i,:)) 0 0;cos(betam22(i,:)) -sin(betam22(i,:)) 0 0];
A1([2*i-1,2*i],:)=H1*Ak;
r1t=sqrt((theta(1,1)+i*theta1(3,i)*T-Oistate1(1,1))^2+(theta(2,1)+i*theta1(4,i)*T-Oistate1(2,1))^2);
r2t=sqrt((theta(1,1)+i*theta1(3,i)*T-Oistate2(1,1))^2+(theta(2,1)+i*theta1(4,i)*T-Oistate2(2,1))^2);
w(2*i-1,2*i-1)=r1t^2*(0.1*pi/180)^2;
w(2*i,2*i)=r2t^2*(0.1*pi/180)^2;
TH=inv((inv(w([1:2*i],[1:2*i]))*A1([1:2*i],:))'*A([1:2*i],:))*(inv(w([1:2*i],[1:2*i]))*A1([1:2*i],:))'*z([1:2*i],:);
mmse(i,:)=sqrt((TH(1)-Tistate(1))^2+(TH(2)-Tistate(2))^2);%%%%%%误差
end
end
%theta=0;A=0;z=0;
sum=sum+mmse;
sum1=sum1+mse;
sum2=sum2+mmmse;
end
re=sum/times;
re1=sum1/times;
re11=sum2/times;
t=1:100;
plot(t,re,t,re1,'r',t,re11,'g');
简单的导航仿真源码程序
最新推荐文章于 2024-05-13 10:42:27 发布