定位导航算法高级框架设计

一、前言

在卫星和高端传感器的数据中。精通《设计模式》和算法，可以帮助您分析并做出更有力和知识渊博的决策，实现导航领域中搜索引擎的强大算法设计。

二、后端算法高级框架设计图

 

三、相关设计模式的类名词说明

1、蒙特卡罗树搜索 - 图形化模拟 Upper Confidence bound applied to Trees(UCT)

2、 calculation_time来控制时间

3、选举(selection)是根据当前获得所有子步骤的统计结果，选择一个最优的子步骤。

4、扩展(expansion)在当前获得的统计结果不足以计算出下一个步骤时，随机选择一个子步骤。

5、模拟(simulation)模拟决策过程，进入下一步。

6、反向传播(Back-Propagation)根据决策的结果，计算对应路径上统计记录的值。

7、置信区间(confidence intervals)是指由样本统计量所构造的总体参zhi数的估计区间，窄的置信区间比宽的置信区间能提供更多的有关总体参数的信息。越小的置信区间置信度就越高。

四、工具类设计

工具类：存在了某一类事物的工具方法的类。

工具类存在的包：工具包  tools 。

工具类起名：表示一类事物。比如：在tools包下的Sampler为取样器工具类。

该Sampler工具方法全部使用static修饰， 只需要使用工具类名调用即可。

五、设计代码逻辑

注释：由于公开，已经去掉中文说明。该类为取样器，进行数据的计算逻辑封装。

package tools;

import java.util.ArrayList;
import java.util.Calendar;
import java.util.List;
import java.util.Random;
import java.util.Set;

import jdk.internal.dynalink.beans.StaticClass;

public class Sampler {
    private static Random rng = new Random(
            Calendar.getInstance().getTimeInMillis() +
                    Thread.currentThread().getId());

    public static Random getRandom() {
        return rng;
    }

    public static boolean sampleCoin() {
        return rng.nextBoolean();
    }


    public static double sampleBeta(double alpha, double beta) {
        double x, y;
        x = sampleGamma(alpha, 1);
        y = sampleGamma(beta, 1);
        return x / (x + y);
    }

    // Sample from the 1 - X where X ~ beta( alpha , beta)
    public static double one_minus_sampleBeta(double alpha, double beta) {
        double x, y;
        x = sampleGamma(alpha, 1);
        y = sampleGamma(beta, 1);
        return y / (x + y);
    }


    public static long nextPoisson(double lambda) {
        return (long) (-1.0 * Math.log(1.0 - rng.nextDouble() * 1.0) / lambda);
    }


    public static double nextExponential(double b) {
        double randx;
        double result;
        randx = rng.nextDouble();
        result = -1 * b * Math.log(randx);
        return result;
    }

    public static double sampleGamma(double k, double theta) {
        boolean accept = false;
        if (k < 1) {
            // Weibull algorithm
            double c = (1 / k);
            double d = ((1 - k) * Math.pow(k, (k / (1 - k))));
            double u, v, z, e, x;
            do {
                u = rng.nextDouble();
                v = rng.nextDouble();
                z = -Math.log(u);
                e = -Math.log(v);
                x = Math.pow(z, c);
                if ((z + e) >= (d + x)) {
                    accept = true;
                }
            } while (!accept);
            return (x * theta);
        } else {
            // Cheng's algorithm
            double b = (k - Math.log(4));
            double c = (k + Math.sqrt(2 * k - 1));
            double lam = Math.sqrt(2 * k - 1);
            double cheng = (1 + Math.log(4.5));
            double u, v, x, y, z, r;
            do {
                u = rng.nextDouble();
                v = rng.nextDouble();
                y = ((1 / lam) * Math.log(v / (1 - v)));
                x = (k * Math.exp(y));
                z = (u * v * v);
                r = (b + (c * y) - x);
                if ((r >= ((4.5 * z) - cheng)) ||
                        (r >= Math.log(z))) {
                    accept = true;
                }
            } while (!accept);
            return (x * theta);
        }
    }


    public static Double[] subSampleNaive(List<Double> samples, int m) {
        int n = samples.size();
        int nm = Math.min(m, n);
        Double[] sub = new Double[nm];
        if (nm == n) {
            sub = samples.toArray(sub);
            return sub;
        }
        for (int k = 0; k < nm; k++) {
            int i = rng.nextInt(n);
            Double aux = samples.get(k);
            samples.set(k, samples.get(i));
            samples.set(i, aux);
        }
        sub = samples.subList(0, nm).toArray(sub);
        return sub;
    }

    public static Double[] subSample(List<Double> samples, int m) {
        //System.out.println(samples.size() +" " + m);

        int n = samples.size();
        int nm = Math.min(m, n);
        Double[] sub = new Double[nm];
        if (nm == n) {
            sub = samples.toArray(sub);
            return sub;
        }
        if (m < n / 2) {
            for (int k = 0; k < nm; k++) {
                int i = rng.nextInt(n);
                Double aux = samples.get(0);
                samples.set(0, samples.get(i));
                samples.set(i, aux);
            }
            sub = samples.subList(0, nm).toArray(sub);
        } else {
            for (int k = 0; k < n - nm; k++) {
                int i = rng.nextInt(n);
                Double aux = samples.get(0);
                samples.set(0, samples.get(i));
                samples.set(i, aux);
            }
            sub = samples.subList(n - nm, n).toArray(sub);
        }
        return sub;
    }

}