文中涉及人工圣经网络与多传感器融合两们学科的基本.docVIP

%本程序采用matlab编程，通过设计训练一个人工神经网络来达到其对一个4传感器实时检测输出结果融合判断的模拟，文中涉及人工圣经网络和多传感器融合两们学科的基本知识。 x=zeros(1,101); y=zeros(1,101); a=zeros(1,101); b=zeros(1,101); c=zeros(1,101); d=zeros(1,101); grade=zeros(4,8); mus=zeros(2,1); mux=zeros(2,1); muy=zeros(2,1); namd=zeros(4,101); for i=1:25 x(4*i-2)=-96+8*(i-1); x(4*i-1)=-96+8*(i-1); x(4*i)=-96+8*(i-1); x(4*i+1)=-96+8*(i-1)+4; y(4*i-2)=-100+8*(i-1); y(4*i-1)=-100+8*(i-1)+4; y(4*i)=-100+8*(i-1)+8; y(4*i+1)=-100+8*(i-1)+8; end; x(1)=-100; y(1)=-100;%计算 xy for i=1:100 a(i+1)=4*i; b(i+1)=4*i; c(i+1)=sqrt((-100-x(i+1))^2+(100-y(i+1))^2); d(i+1)=atan((100-y(i+1))/(x(i+1)+100))/pi*180+45; end; a(1)=0;b(1)=0;c(1)=200;d(1)=135; a=a+1*3/6*randn(1,101);%encoder1 3sigma=300*0.01 b=b+1*3/6*randn(1,101); c=c+3.33*3/5/6*randn(1,101);%camera 3sigma=200*0.01 d=d+3*3/6/5*randn(1,101);%encoder3 3sigma=180*0.01 p=zeros(4,101); pn=zeros(4,101); t=zeros(2,101); tn=zeros(2,101); for i=1:101 %real sensor data setp goal data set t p(1,i)=a(i); p(2,i)=b(i); p(3,i)=c(i); p(4,i)=d(i); t(1,i)=x(i); t(2,i)=y(i); end; [pn,minp,maxp,tn,mint,maxt] = premnmx(p,t);% 归一化 tn1=(tn+1)/2;%matrix into one X=rand(4,101); X=p; I=rand(4,100); W=rand(4,1); WL=rand(4,101); WR=rand(4,101); Y=rand(4,101); deltay=1; deltas=0.6; for j=1:101 for i=1:4 a=mod(X(i,j),deltay); if(a=0.5*deltay) W(i,1)=a;% equation 5 else W(i,j)=(1-a); WL(i,j)=W(i,j)-0.5*deltas/deltay; WR(i,j)=W(i,j)+0.5*deltas/deltay; end if((WR(i,j)(deltas/deltay))) Y(i,j)=(deltay/deltas)*WR(i,j);% equation 6 elseif ((WR(i,j)=(deltas/deltay))((WR(i,j)1-(deltas/deltay)))) Y(i,j)=1; elseif ((WL(i,j)=1-(deltas/deltay))) Y(i,j)=1+(deltas/deltay)*(1-(deltas/deltay)-WL(i,j)); end; end end %yi jing suan chu 4*101 de namd zhi %namd zhi cun zai Y(4*101) zhong namd=Y;%Y(:,1); tn1=(tn+1)/2;%matrix into one Q(:,1)=[1;1;1;1]; for j=2:101 for i=1:4 %zuo cheng 4*8 de grade mat