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超宽带TOA定位卡尔曼滤波定位算法matlab仿真

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代码片段和文件信息

r=[500 1000 1500 2000 3000 4000];  %r为半径
total = [0 0 0 0 0 0];
Noise = 50;
for i = 1: 6
    for m = 1: 10000
        ms=[100;300];
        bs1=[000]; %服务基站BS0的坐标
        bs2=[0sqrt(3)*r(i)0];
        bs3=[3*r(i)/2sqrt(3)*r(i)/20]; 
        bs4=[-3*r(i)/2-sqrt(3)*r(i)/20];
        bs5=[-3*r(i)/2sqrt(3)*r(i)/20];
        bs6=[3*r(i)/2-sqrt(3)*r(i)/20];
        bs7=[0-sqrt(3)*r(i)0];
        r1=sqrt((bs1(1)-ms(1))^2+(bs1(2)-ms(2))^2); 
        bs2(3)=sqrt((bs2(1)-ms(1))^2+(bs2(2)-ms(2))^2)-r1;
        bs2(3)=bs2(3)+ Noise*randn(1); 
        bs3(3)=sqrt((bs3(1)-ms(1))^2+(bs3(2)-ms(2))^2)-r1;
        bs3(3)=bs3(3)+ Noise*randn(1); 
        bs4(3)=sqrt((bs4(1)-ms(1))^2+(bs4(2)-ms(2))^2)-r1;
        bs4(3)=bs4(3)+ Noise*randn(1);
        bs5(3)=sqrt((bs5(1)-ms(1))^2+(bs5(2)-ms(2))^2)-r1;
        bs5(3)=bs5(3)+ Noise*randn(1);
        bs6(3)=sqrt((bs6(1)-ms(1))^2+(bs6(2)-ms(2))^2)-r1;
        bs6(3)=bs6(3)+ Noise*randn(1);
        bs7(3)=sqrt((bs7(1)-ms(1))^2+(bs7(2)-ms(2))^2)-r1;
        bs7(3)=bs7(3)+ Noise*randn(1);
        bs=[bs1;bs2;bs3;bs4;bs5;bs6;bs7];
        n=7;    
        ms1 = CHANFUC(nbs);
        total(i) = (ms1(1) - ms(1))^2 +  (ms1(1) - ms(1))^2 + total(i);
    end
    rmse(i) = sqrt(total(i)/10000);
end

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       1303  2006-07-20 16:19  TOAUWBfkt\代码\chan4.m

     文件       2364  2009-06-10 11:19  TOAUWBfkt\代码\ChanAlgorithm.m

     文件       2308  2006-07-20 16:19  TOAUWBfkt\代码\ChanAlgorithm_B.m

     文件       2203  2006-07-20 16:19  TOAUWBfkt\代码\ChanAlgorithm_d.m

     文件       2364  2009-05-27 21:22  TOAUWBfkt\代码\ChanAlgorithm_KF.m

     文件       2121  2006-07-20 16:19  TOAUWBfkt\代码\CHANFUC.m

     文件       1373  2006-07-20 16:19  TOAUWBfkt\代码\Chan_3BS.m

     文件       1160  2006-07-20 16:19  TOAUWBfkt\代码\Cost231.m

     文件       2043  2006-07-20 16:19  TOAUWBfkt\代码\CRLB.m

     文件       2265  2006-07-20 16:19  TOAUWBfkt\代码\CRLB_1.m

     文件        824  2006-07-20 16:19  TOAUWBfkt\代码\Data.txt

     文件       1294  2006-07-20 16:19  TOAUWBfkt\代码\EvChanAlgorithm.m

     文件       2004  2006-07-20 16:19  TOAUWBfkt\代码\EvTaylorAlgorithm.m

     文件       1407  2006-07-20 16:19  TOAUWBfkt\代码\FangAlgorithm.m

     文件       2362  2006-07-20 16:19  TOAUWBfkt\代码\FWLSAlgorithm.m

     文件       2436  2009-07-05 17:32  TOAUWBfkt\代码\gaijinkalman.m

     文件       1928  2006-07-20 16:19  TOAUWBfkt\代码\GetEvalData.m

     文件       1244  2009-05-26 19:05  TOAUWBfkt\代码\kaerman.m

     文件       2421  2009-06-10 11:10  TOAUWBfkt\代码\kaerman_new.m

     文件       2421  2009-07-09 22:56  TOAUWBfkt\代码\KF

     文件       1438  2009-05-22 14:59  TOAUWBfkt\代码\KF.m

     文件       1122  2009-05-25 18:34  TOAUWBfkt\代码\KFzhengti.m

     文件       1174  2009-05-25 18:33  TOAUWBfkt\代码\KFzijigai.m

     文件       2451  2009-07-09 23:24  TOAUWBfkt\代码\KF_7.m

     文件        494  2006-07-20 16:19  TOAUWBfkt\代码\MeaNoise.m

     文件        446  2006-07-20 16:19  TOAUWBfkt\代码\MSPosition.m

     文件        758  2006-07-20 16:19  TOAUWBfkt\代码\NetworkTop.m

     文件       1792  2006-07-20 16:19  TOAUWBfkt\代码\Okumura_Hata.m

     文件       1987  2014-04-10 10:52  TOAUWBfkt\代码\RMSEbijiao.m

     文件       1702  2006-07-20 16:19  TOAUWBfkt\代码\SIAlgorithm.m

............此处省略101个文件信息

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