给出接替的MATLAB代码
时间: 2024-08-24 07:00:36 浏览: 36
看起来您需要一段MATLAB代码来帮助解决问题1中的部分或全部小问。不过,在当前的信息里并没有直接提供具体的MATLAB代码示例。但我可以根据问题描述为您概括一个基础框架:
### MATLAB 示例代码框架
#### (1) 定位模型 - 位置估计
首先我们需要建立一个基本模型用来估计接收信号无人机的位置。
```matlab
function [position] = estimatePosition(alpha1, alpha2)
% 假设发射信号的无人机位置已知
pos0 = [0; 0]; % FY00 at origin
pos1 = [100; 0]; % FY01 on x-axis
% Using direction information to find position of receiving drone
d1 = 100; % Distance from FY00 to FY01 is known and constant in this case
R = triangulate(alpha1, alpha2, pos0, pos1, d1);
position = R;
end
% Triangulation function for demonstration purposes only.
function posR = triangulate(alpha1, alpha2, pos0, pos1, d1)
% Simplified example using basic trigonometry for illustration.
d2 = d1 / cosd(alpha1); % Calculate distance between FY00 and receiver
posR = [d2 * sind(alpha1 + alpha2); d2 * cosd(alpha1 + alpha2)];
end
```
#### (2) 最少需要的信号发射器数量
确定最少需要多少架额外的无人机发出信号以便实现有效定位。
```matlab
function minDronesNeeded = calculateMinDronesNeeded()
minDronesNeeded = 2; % FY00 and FY01 are already given
end
```
#### (3) 位置调整方案
为了使所有无人机达到期望的分布状态,我们可以通过迭代方式逐步调整无人机位置至目标圆周上。
```matlab
function adjustPositions(positions)
finalPos = positions;
numDrones = size(finalPos, 1);
radius = 100;
for iter = 1:10 % Assume maximum 10 iterations
for i = 1:numDrones
if i ~= 1 % Skip the center drone
angles = getAngles(i, finalPos);
finalPos(i,:) = updatePosition(i, angles, radius);
end
end
if checkFormation(finalPos, radius) % Check if formation has been achieved
break;
end
end
end
function angles = getAngles(droneIndex, positions)
% Retrieve angles based on received signals from drones FY00 and up to 3 other drones
refDroneIndices = [1, mod(droneIndex-1, 9)+2, mod(droneIndex, 9)+2, mod(droneIndex+1, 9)+2];
angles = [];
for index = refDroneIndices
if index == 1
angle = atan2d(positions(index, 2), positions(index, 1));
else
vec1 = positions(index,:) - positions(1,:);
vec2 = positions(droneIndex,:) - positions(1,:);
angle = acosd(dot(vec1,vec2)/(norm(vec1)*norm(vec2)));
end
angles = [angles, angle];
end
end
function newPos = updatePosition(droneIndex, angles, radius)
% Update the position of a single drone towards its target position on a circle
angleDiff = mean(angles(2:end)) - angles(1);
theta = angles(1) + angleDiff;
newPos = [radius*cosd(theta); radius*sind(theta)];
end
function valid = checkFormation(positions, radius)
% Check if all drones except the first one are within an acceptable range of their target positions
threshold = 1; % Threshold for acceptable deviation
deviations = sqrt(sum((positions(2:end,:) - [radius*cosd(linspace(0,360,numDrones-1)); radius*sind(linspace(0,360,numDrones-1))]).^2, 2));
valid = all(deviations < threshold);
end
```
以上代码仅为示意性质,并未针对具体数据优化;实际使用时可能需要进一步调试和完善。