DV-HOP锚节点比例与定位误差的关系仿真程序

clear,close all;BorderLength=100;NodeAmount=100;R=30;% D=zeros(BeaconAmount,NodeAmount);%δ֪½Úµãµ½Ðűê½clear,close all; BorderLength=100;NodeAmount=100;R=30;% D=zeros(BeaconAmount,NodeAmount);%未知节点到信标节点距离初始矩阵；BeaconAmount行NodeAmount列%~~~~~~~~~~~~~~~~~~~~~~~~~~~~~在正方形区域内产生均匀分布的随机拓扑~~~~~~~~~~~~~~~~~~~~C=BorderLength.*rand(2,NodeAmount);%带逻辑号的节点坐标Sxy=[[1:NodeAmount];C];for Z=1:20;%Z=5;Rate(Z)=(5*Z)/NodeAmount; %Rate为信标节点的比例BeaconAmount=5*Z;UNAmount=NodeAmount-BeaconAmount;h=zeros(NodeAmount,NodeAmount);%初始跳数为0；BeaconAmount行NodeAmount列X=zeros(2,UNAmount);%节点估计坐标初始矩阵Beacon=[Sxy(2,1:BeaconAmount);Sxy(3,1:BeaconAmount)];%信标节点坐标UN=[Sxy(2,(BeaconAmount+1):NodeAmount);Sxy(3,(BeaconAmount+1):NodeAmoun t)];%未知节点坐标%~~~~~~~~~~~~~~~~~~~~画出节点分布图~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~%plot(Sxy(2,1:BeaconAmount),Sxy(3,1:BeaconAmount),'r*',Sxy(2,(BeaconAmo unt+1):NodeAmount),Sxy(3,(BeaconAmount+1):NodeAmount),'k.')%xlim([0,BorderLength]);%ylim([0,BorderLength]);%title('* 红色信标节点 . 黑色未知节点')%~~~~~~~~~~~~~~~~~~~~~~~~~~~~初始化节点间距离、跳数矩阵~~~~~~~~~~~~~~~~~~~~~~ for i=1:NodeAmountfor j=1:NodeAmountDall(i,j)=((Sxy(2,i)-Sxy(2,j))^2+(Sxy(3,i)-Sxy(3,j))^2)^0.5;%所有节点间相互距离if (Dall(i,j)<=R)&(Dall(i,j)>0)h(i,j)=1;%初始跳数矩阵elseif i==jh(i,j)=0;else h(i,j)=inf;endendend%~~~~~~~~~~~~~~~~~~~~~~~~~最短路经算法计算节点间跳数~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~for k=1:NodeAmountfor i=1:NodeAmountfor j=1:NodeAmountif h(i,k)+h(k,j)<h(i,j)%min(h(i,j),h(i,k)+h(k,j))h(i,j)=h(i,k)+h(k,j);endendendend%h%~~~~~~~~~~~~~~~~~~~~~~~~~求每个信标节点的校正值~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Dhop=zeros(1,UNAmount);h1=h(1:BeaconAmount,1:BeaconAmount);D1=Dall(1:BeaconAmount,1:BeaconAmount); % @dall的算法作用？for i=1:BeaconAmountdhop(i,1)=sum(D1(i,:))/sum(h1(i,:));%每个信标节点的平均每跳距离 @ (每一行进行运算)endD2=Dall(1:BeaconAmount,(BeaconAmount+1):NodeAmount);%BeaconAmount行UNAmount列for i=1:BeaconAmountfor j=1:UNAmountif min(D2(:,j))==D2(i,j) % ?Dhop(1,j)=D2(i,j);%未知节点从最近的信标获得校正值endendend%Dhop%~~~~~~~~~~~~~~~~~~~~~~~~~~~用跳数估计距离~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Distance=zeros(BeaconAmount,UNAmount);hop1=h(1:BeaconAmount,(BeaconAmount+1):NodeAmount);%未知节点到信标跳数，BeaconAmount行UNAmount列for i=1:UNAmount%hop=Dhop(1,i);%hop为从最近信标获得的校正值hop=Dhop(1,i);Distance(:,i)=hop*hop1(:,i);%%Beacon行UN列；end% %~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~最小二乘法求未知节点坐标~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~d=Distance;for i=1:2for j=1:(BeaconAmount-1)a(i,j)=Beacon(i,j)-Beacon(i,BeaconAmount);endendA=-2*(a');% d=d1';for m=1:UNAmountfor i=1:(BeaconAmount-1)B(i,1)=d(i,m)^2-d(BeaconAmount,m)^2-Beacon(1,i)^2+Beacon(1,BeaconAmount )^2-Beacon(2,i)^2+Beacon(2,BeaconAmount)^2;endX1=inv(A'*A)*A'*B;X(1,m)=X1(1,1);X(2,m)=X1(2,1);end%UN%Xfor i=1:UNAmounterror(1,i)=(((X(1,i)-UN(1,i))^2+(X(2,i)-UN(2,i))^2)^0.5);end%figure;plot(error,'-o')%title('每个未知节点的误差')avgerror(Z)=sum(error)/UNAmount; %未知节点的平均误差Accuracy(Z)=avgerror(Z)*100/R;end%figure;plot(Rate, Accuracy,'-or')xlabel('锚节点比例Rate');ylabel('平均定位误差/%');title('平均每个节点的定位误差')Úµã¾àÀë³õʼ¾ØÕó£»BeaconAmountÐÐNodeAmountÁÐ%~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ÔÚÕý·½ÐÎÇøÓòÄÚ²úÉú¾ùÔÈ·Ö²¼µÄËæ»úÍØÆË~~~~~ ~~~~~~~~~~~~~~~C=BorderLength.*rand(2,NodeAmount);%´øÂß¼-ºÅµÄ½Úµã×ø±êSxy=[[1:NodeAmount];C];for Z=1:20;%Z=5;Rate(Z)=(5*Z)/NodeAmount;%RateΪÐűê½ÚµãµÄ±ÈÀýBeaconAmount=5*Z;UNAmount=NodeAmount-BeaconAmount;h=zeros(NodeAmount,NodeAmount);%³õʼÌøÊýΪ0£»BeaconAmountÐÐNodeAmountÁÐX=zeros(2,UNAmount);%½Úµã¹À¼Æ×ø±ê³õʼ¾ØÕóBeacon=[Sxy(2,1:BeaconAmount);Sxy(3,1:BeaconAmount)];%Ðűê½Úµã×ø±êUN=[Sxy(2,(BeaconAmount+1):NodeAmount);Sxy(3,(BeaconAmount+1):NodeAmoun t)];%δ֪½Úµã×ø±ê%~~~~~~~~~~~~~~~~~~~~»-³ö½Úµã·Ö²¼Í¼~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~%plot(Sxy(2,1:BeaconAmount),Sxy(3,1:BeaconAmount),'r*',Sxy(2,(BeaconAmo unt+1):NodeAmount),Sxy(3,(BeaconAmount+1):NodeAmount),'k.')%xlim([0,BorderLength]);%ylim([0,BorderLength]);%title('* ºìÉ«Ðűê½Úµã . ºÚɫδ֪½Úµã')%~~~~~~~~~~~~~~~~~~~~~~~~~~~~³õʼ»¯½Úµã¼ä¾àÀë¡¢ÌøÊý¾ØÕó~~~~~~~~~~~~~~~~ ~~~~~~for i=1:NodeAmountfor j=1:NodeAmountDall(i,j)=((Sxy(2,i)-Sxy(2,j))^2+(Sxy(3,i)-Sxy(3,j))^2)^0.5;%ËùÓнڵã¼äÏ໥¾àÀëif (Dall(i,j)<=R)&(Dall(i,j)>0)h(i,j)=1;%³õʼÌøÊý¾ØÕóelseif i==jh(i,j)=0;else h(i,j)=inf;endendend%~~~~~~~~~~~~~~~~~~~~~~~~~×î¶Ì·¾-Ëã·¨¼ÆËã½Úµã¼äÌøÊý~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~for k=1:NodeAmountfor i=1:NodeAmountfor j=1:NodeAmountif h(i,k)+h(k,j)<h(i,j)%min(h(i,j),h(i,k)+h(k,j))h(i,j)=h(i,k)+h(k,j);endendendend%h%~~~~~~~~~~~~~~~~~~~~~~~~~Çóÿ¸öÐűê½ÚµãµÄУÕýÖµ~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~Dhop=zeros(1,UNAmount);h1=h(1:BeaconAmount,1:BeaconAmount);D1=Dall(1:BeaconAmount,1:BeaconAmount); % @dallµÄËã·¨×÷Óà £¿for i=1:BeaconAmountdhop(i,1)=sum(D1(i,:))/sum(h1(i,:));%ÿ¸öÐűê½ÚµãµÄƽ¾ùÿÌø¾àÀë @ (ÿһÐнøÐÐÔËËã)endD2=Dall(1:BeaconAmount,(BeaconAmount+1):NodeAmount);%BeaconAmountÐÐUNAm ountÁÐfor i=1:BeaconAmountfor j=1:UNAmountif min(D2(:,j))==D2(i,j) % ?Dhop(1,j)=D2(i,j);%δ֪½Úµã´Ó×î½üµÄÐűê»ñµÃУÕýÖµendendend%Dhop%~~~~~~~~~~~~~~~~~~~~~~~~~~~ÓÃÌøÊý¹À¼Æ¾àÀë~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~Distance=zeros(BeaconAmount,UNAmount);hop1=h(1:BeaconAmount,(BeaconAmount+1):NodeAmount);%δ֪½Úµãµ½ÐűêÌøÊý£¬BeaconAmountÐÐUNAmountÁÐfor i=1:UNAmount%hop=Dhop(1,i);%hopΪ´Ó×î½üÐűê»ñµÃµÄУÕýÖµhop=Dhop(1,i);Distance(:,i)=hop*hop1(:,i);%%BeaconÐÐUNÁУ»end% %~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~×îС¶þ³Ë·¨Çóδ֪½Úµã×ø±ê~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~d=Distance;for i=1:2for j=1:(BeaconAmount-1)a(i,j)=Beacon(i,j)-Beacon(i,BeaconAmount);endendA=-2*(a');% d=d1';for m=1:UNAmountfor i=1:(BeaconAmount-1)B(i,1)=d(i,m)^2-d(BeaconAmount,m)^2-Beacon(1,i)^2+Beacon(1,BeaconAmount )^2-Beacon(2,i)^2+Beacon(2,BeaconAmount)^2;endX1=inv(A'*A)*A'*B;X(1,m)=X1(1,1);X(2,m)=X1(2,1);end%UN%Xfor i=1:UNAmounterror(1,i)=(((X(1,i)-UN(1,i))^2+(X(2,i)-UN(2,i))^2)^0.5);end%figure;plot(error,'-o')%title('ÿ¸öδ֪½ÚµãµÄÎó²î')avgerror(Z)=sum(error)/UNAmount; %δ֪½ÚµãµÄƽ¾ùÎó²îAccuracy(Z)=avgerror(Z)*100/R;end%figure;plot(Rate, Accuracy,'-or')xlabel('ê½Úµã±ÈÀýRate');ylabel('ƽ¾ù¶¨Î»Îó²î/%');title('ƽ¾ùÿ¸ö½ÚµãµÄ¶¨Î»Îó²î')。