tdoa定位算法c语言代码STM32F1

以下是一个基于TDOA（Time Difference of Arrival）定位算法的C语言代码示例，适用于STM32F1系列微控制器：

#include <stdio.h>
#include <math.h>

#define SPEED_OF_SOUND 343.2 // 声速（单位：米/秒）

// 定义基站的坐标
double base_station1[2] = {0, 0};
double base_station2[2] = {10, 0};
double base_station3[2] = {5, 5};

// 计算两点之间的距离
double distance(double x1, double y1, double x2, double y2) {
    return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
}

// 计算到达各个基站的时间差
void calculate_time_difference(double tdoa1, double tdoa2, double tdoa3, double *time_diff_1, double *time_diff_2, double *time_diff_3) {
    double distance1 = tdoa1 * SPEED_OF_SOUND;
    double distance2 = tdoa2 * SPEED_OF_SOUND;
    double distance3 = tdoa3 * SPEED_OF_SOUND;

    *time_diff_1 = (distance1 - distance2) / SPEED_OF_SOUND;
    *time_diff_2 = (distance1 - distance3) / SPEED_OF_SOUND;
    *time_diff_3 = (distance2 - distance3) / SPEED_OF_SOUND;
}

// 计算定位坐标
void calculate_position(double time_diff_1, double time_diff_2, double time_diff_3, double *x, double *y) {
    double d1 = SPEED_OF_SOUND * time_diff_1;
    double d2 = SPEED_OF_SOUND * time_diff_2;
    double d3 = SPEED_OF_SOUND * time_diff_3;

    double A = 2 * (base_station3[0] - base_station1[0]);
    double B = 2 * (base_station3[1] - base_station1[1]);
    double C = pow(d1, 2) - pow(d3, 2) - pow(base_station1[0], 2) + pow(base_station3[0], 2) - pow(base_station1[1], 2) + pow(base_station3[1], 2);
    double D = 2 * (base_station3[0] - base_station2[0]);
    double E = 2 * (base_station3[1] - base_station2[1]);
    double F = pow(d2, 2) - pow(d3, 2) - pow(base_station2[0], 2) + pow(base_station3[0], 2) - pow(base_station2[1], 2) + pow(base_station3[1], 2);

    *x = (C * E - F * B) / (E * A - B * D);
    *y = (C * D - A * F) / (B * D - A * E);
}

int main() {
    double tdoa1 = 0.01; // 基站1与目标节点之间的时间差
    double tdoa2 = 0.02; // 基站2与目标节点之间的时间差
    double tdoa3 = 0.03; // 基站3与目标节点之间的时间差

    double time_diff_1, time_diff_2, time_diff_3;
    calculate_time_difference(tdoa1, tdoa2, tdoa3, &time_diff_1, &time_diff_2, &time_diff_3);

    double x, y;
    calculate_position(time_diff_1, time_diff_2, time_diff_3, &x, &y);

    printf("定位坐标：(%.2f, %.2f)\n", x, y);

    return 0;
}

请注意，以上代码仅提供了基本的TDOA定位算法实现，具体应用中还需根据实际情况进行适当的调整和改进。