{"id":112266,"date":"2026-10-03T00:33:00","date_gmt":"2026-10-02T16:33:00","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/112266.html"},"modified":"2026-10-03T00:33:00","modified_gmt":"2026-10-02T16:33:00","slug":"%e3%80%90matlab%e4%be%8b%e7%a8%8b%e3%80%91%e4%b8%89%e7%bb%b4rrt%e8%b7%af%e5%be%84%e8%a7%84%e5%88%92%e4%b8%8etdoa%e5%ae%9a%e4%bd%8d%e7%ae%97%e6%b3%95%e3%80%82%e6%9c%89%e4%b8%ad%e6%96%87%e6%b3%a8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/112266.html","title":{"rendered":"\u3010MATLAB\u4f8b\u7a0b\u3011\u4e09\u7ef4RRT\u8def\u5f84\u89c4\u5212\u4e0eTDOA\u5b9a\u4f4d\u7b97\u6cd5\u3002\u6709\u4e2d\u6587\u6ce8\u91ca\u3001\u5305\u8fd0\u884c\u6210\u529f\uff0c\u6587\u672b\u6709\u5b8c\u6574\u4ee3\u7801\u7684\u4e0b\u8f7d\u94fe\u63a5"},"content":{"rendered":"<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261002163258-6abfdcba4aa68.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u5b8c\u6574\u4ee3\u7801&#xff0c;\u9644\u4e0b\u8f7d\u94fe\u63a5\u6b22\u8fce\u4ea4\u6d41&#xff0c;\u4f46\u8bf7\u52ff\u7ffb\u5356<\/p>\n<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>\u7a0b\u5e8f\u4ecb\u7ecd<\/li>\n<li>\n<ul>\n<li>\u6982\u89c8<\/li>\n<li>\u8def\u5f84\u89c4\u5212\u6a21\u578b<\/li>\n<li>\u91cf\u6d4b\u6a21\u578b<\/li>\n<\/ul>\n<\/li>\n<li>\u8fd0\u884c\u7ed3\u679c<\/li>\n<li>\n<ul>\n<li>\u771f\u5b9e\u622a\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>MATLAB\u6e90\u4ee3\u7801<\/li>\n<\/ul>\n<h2>\u7a0b\u5e8f\u4ecb\u7ecd<\/h2>\n<h3>\u6982\u89c8<\/h3>\n<p>\u7a0b\u5e8f\u4e3a\u4e09\u7ef4RRT\u8def\u5f84\u89c4\u5212\u4e0eTDOA\u5b9a\u4f4d\u7b97\u6cd5\u3002\u8def\u5f84\u89c4\u5212\u90e8\u5206\u91c7\u7528RRT\u5feb\u901f\u968f\u673a\u6811&#xff0c;\u5b9a\u4f4d\u90e8\u5206\u91c7\u7528 TDOA \u91cf\u6d4b\u6a21\u578b\u3002TDOA\u90e8\u5206\u5305\u542b\u5230\u8fbe\u65f6\u95f4\u5dee\u91cf\u6d4b\u3001\u7c97\u7f51\u683c\u521d\u503c\u548cGauss-Newton\u8fed\u4ee3<\/p>\n<h3>\u8def\u5f84\u89c4\u5212\u6a21\u578b<\/h3>\n<p>\u7a0b\u5e8f\u91c7\u7528RRT\u7b97\u6cd5&#xff0c;\u5728\u4e09\u7ef4\u8fde\u7eed\u7a7a\u95f4\u4e2d\u968f\u673a\u91c7\u6837\u3001\u5bfb\u627e\u6700\u8fd1\u6811\u8282\u70b9&#xff0c;\u5e76\u6cbf\u91c7\u6837\u65b9\u5411\u6269\u5c55\u56fa\u5b9a\u6b65\u957f\u3002\u6bcf\u4e00\u6761\u65b0\u589e\u7ebf\u6bb5\u90fd\u4f1a\u4e0e\u957f\u65b9\u4f53\u969c\u788d\u7269\u505a\u78b0\u649e\u68c0\u6d4b&#xff0c;\u6700\u7ec8\u56de\u6eaf\u6811\u8282\u70b9\u5f97\u5230\u4e09\u7ef4\u907f\u969c\u8def\u5f84\u3002<\/p>\n<h3>\u91cf\u6d4b\u6a21\u578b<\/h3>\n<p>TDOA\u91cf\u6d4b\u4f7f\u7528\u7b2c\u4e00\u4e2a\u951a\u8282\u70b9\u4f5c\u4e3a\u53c2\u8003\u7ad9&#xff0c;\u89c2\u6d4b\u91cf\u662f\u76ee\u6807\u5230\u5176\u4ed6\u951a\u8282\u70b9\u4e0e\u53c2\u8003\u951a\u8282\u70b9\u7684\u8ddd\u79bb\u5dee\u3002<\/p>\n<p>\u7a0b\u5e8f\u5148\u901a\u8fc7\u7c97\u7f51\u683c\u641c\u7d22\u5f97\u5230\u521d\u503c&#xff0c;\u518d\u4f7f\u7528Gauss-Newton\u8fed\u4ee3\u6700\u5c0f\u5316TDOA\u8ddd\u79bb\u5dee\u6b8b\u5dee\u3002<\/p>\n<h2>\u8fd0\u884c\u7ed3\u679c<\/h2>\n<p>\u8fd0\u884c\u4ee3\u7801\u540e&#xff0c;\u7a0b\u5e8f\u4f1a\u5b8c\u6210\u4e09\u7ef4RRT\u8def\u5f84\u89c4\u5212\u4e0eTDOA\u5230\u8fbe\u65f6\u95f4\u5dee\u5b9a\u4f4d\u4eff\u771f\u3002\u7a0b\u5e8f\u5148\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u751f\u6210\u907f\u969c\u8def\u5f84&#xff0c;\u518d\u6cbf\u8def\u5f84\u70b9\u6a21\u62df TDOA \u91cf\u6d4b&#xff0c;\u5e76\u8ba1\u7b97\u5b9a\u4f4d\u4f30\u8ba1\u8f68\u8ff9\u548c\u8bef\u5dee\u7edf\u8ba1\u3002<\/p>\n<h3>\u771f\u5b9e\u622a\u56fe<\/h3>\n<p>\u8def\u5f84\u89c4\u5212\u7ed3\u679c\u56fe&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261002163258-6abfdcba790c2.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u8def\u5f84\u89c4\u5212\u8f68\u8ff9\u4e0e\u5b9a\u4f4d\u4f30\u8ba1\u8f68\u8ff9\u5bf9\u6bd4\u56fe&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261002163258-6abfdcba93d09.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u5404\u5750\u6807\u5206\u91cf\u968f\u8def\u5f84\u70b9\u5e8f\u53f7\u53d8\u5316\u66f2\u7ebf&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261002163258-6abfdcbaac8be.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u5b9a\u4f4d\u8bef\u5dee\u66f2\u7ebf&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261002163258-6abfdcbac72fb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u547d\u4ee4\u884c\u4f1a\u8f93\u51fa\u8def\u5f84\u957f\u5ea6\u3001\u8def\u5f84\u70b9\u6570\u3001\u89c4\u5212\u8fed\u4ee3\u6b21\u6570\u3001\u5e73\u5747\u5b9a\u4f4d\u8bef\u5dee\u3001\u6700\u5927\u5b9a\u4f4d\u8bef\u5dee\u3001\u6700\u5c0f\u5b9a\u4f4d\u8bef\u5dee\u548cRMSE\u7b49\u7edf\u8ba1\u7ed3\u679c\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261002163258-6abfdcbae246b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>MATLAB\u6e90\u4ee3\u7801<\/h2>\n<p>\u90e8\u5206\u4ee3\u7801\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token comment\">%% \u4e09\u7ef4RRT\u8def\u5f84\u89c4\u5212\u4e0eTDOA\u5b9a\u4f4d\u7b97\u6cd5<\/span><br \/>\n<span class=\"token comment\">% \u4f5c\u8005: matlabfilter<\/span><br \/>\n<span class=\"token comment\">% 2026-09-16\/Ver2<\/span><br \/>\n%<br \/>\n<span class=\"token comment\">% \u7a0b\u5e8f\u6d41\u7a0b&#xff1a;<\/span><br \/>\n<span class=\"token comment\">%   1. \u5b8c\u6210RRT\u4e09\u7ef4\u91c7\u6837\u8def\u5f84\u89c4\u5212&#xff0c;\u5c06\u89c4\u5212\u8def\u5f84\u70b9\u4f5c\u4e3a\u8fd0\u52a8\u8f68\u8ff9\u771f\u503c&#xff1b;<\/span><br \/>\n<span class=\"token comment\">%   2. \u5728\u6bcf\u4e2a\u8def\u5f84\u70b9\u5904\u6a21\u62dfTDOA\u91cf\u6d4b&#xff1b;<\/span><br \/>\n<span class=\"token comment\">%   3. \u4f7f\u7528\u672c\u811a\u672c\u5bf9\u5e94\u7684\u5b9a\u4f4d\u6a21\u578b\u4f30\u8ba1\u8def\u5f84\u70b9\u4f4d\u7f6e&#xff1b;<\/span><br \/>\n<span class=\"token comment\">%   4. \u4f7f\u7528\u666e\u901afigure\u7a97\u53e3\u7ed8\u5236\u89c4\u5212\u8f68\u8ff9\u3001\u5b9a\u4f4d\u8f68\u8ff9\u3001\u5750\u6807\u5206\u91cf\u548c\u8bef\u5dee\u66f2\u7ebf\u3002<\/span><\/p>\n<p>clear<span class=\"token punctuation\">;<\/span> clc<span class=\"token punctuation\">;<\/span> close all<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">rng<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">%% \u53c2\u6570\u8bbe\u7f6e<\/span><br \/>\nalgorithmName <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#039;\u4e09\u7ef4RRT\u8def\u5f84\u89c4\u5212\u4e0eTDOA\u5b9a\u4f4d\u7b97\u6cd5&#039;<\/span><span class=\"token punctuation\">;<\/span><br \/>\nmeasureName <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#039;TDOA&#039;<\/span><span class=\"token punctuation\">;<\/span><br \/>\nsigmaTdoaRange <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.45<\/span><span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">% TDOA\u8ddd\u79bb\u5dee\u566a\u58f0&#xff0c;\u5355\u4f4dm<\/span><br \/>\nmaxGnIter <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">14<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">% Gauss-Newton\u6700\u5927\u8fed\u4ee3\u6b21\u6570<\/span><\/p>\n<p><span class=\"token comment\">%% \u8def\u5f84\u89c4\u5212<\/span><br \/>\n<span class=\"token punctuation\">[<\/span>rawPath<span class=\"token punctuation\">,<\/span> anchors<span class=\"token punctuation\">,<\/span> mapLimit<span class=\"token punctuation\">,<\/span> obstacles<span class=\"token punctuation\">,<\/span> planStats<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">planRrt3D<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">%% \u6cbf\u89c4\u5212\u8f68\u8ff9\u8fdb\u884c\u5b9a\u4f4d\u4eff\u771f<\/span><br \/>\n<span class=\"token punctuation\">[<\/span>estPath<span class=\"token punctuation\">,<\/span> posErr<span class=\"token punctuation\">,<\/span> iterUsed<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">runTdoaLocalization3D<\/span><span class=\"token punctuation\">(<\/span>rawPath<span class=\"token punctuation\">,<\/span> anchors<span class=\"token punctuation\">,<\/span> sigmaTdoaRange<span class=\"token punctuation\">,<\/span> maxGnIter<span class=\"token punctuation\">,<\/span> mapLimit<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">%% \u7ed3\u679c\u7ed8\u56fe\u4e0e\u8f93\u51fa<\/span><br \/>\n<span class=\"token function\">plotPlanningResult<\/span><span class=\"token punctuation\">(<\/span>rawPath<span class=\"token punctuation\">,<\/span> anchors<span class=\"token punctuation\">,<\/span> mapLimit<span class=\"token punctuation\">,<\/span> obstacles<span class=\"token punctuation\">,<\/span> algorithmName<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">plotLocalizationResult<\/span><span class=\"token punctuation\">(<\/span>rawPath<span class=\"token punctuation\">,<\/span> estPath<span class=\"token punctuation\">,<\/span> anchors<span class=\"token punctuation\">,<\/span> obstacles<span class=\"token punctuation\">,<\/span> mapLimit<span class=\"token punctuation\">,<\/span> algorithmName<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">plotCoordinateResult<\/span><span class=\"token punctuation\">(<\/span>rawPath<span class=\"token punctuation\">,<\/span> estPath<span class=\"token punctuation\">,<\/span> algorithmName<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">plotErrorResult<\/span><span class=\"token punctuation\">(<\/span>posErr<span class=\"token punctuation\">,<\/span> algorithmName<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printSummary<\/span><span class=\"token punctuation\">(<\/span>rawPath<span class=\"token punctuation\">,<\/span> posErr<span class=\"token punctuation\">,<\/span> iterUsed<span class=\"token punctuation\">,<\/span> planStats<span class=\"token punctuation\">,<\/span> algorithmName<span class=\"token punctuation\">,<\/span> measureName<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u66f4\u591a\u5b8c\u6574\u4ee3\u7801&#xff1a;https:\/\/download.csdn.net\/download\/callmeup\/93455600<\/p>\n<p>\u5982\u9700\u5e2e\u52a9&#xff0c;\u6216\u6709\u5bfc\u822a\u3001\u5b9a\u4f4d\u6ee4\u6ce2\u76f8\u5173\u7684\u4ee3\u7801\u5b9a\u5236\u9700\u6c42&#xff0c;\u53ef\u4ece\u4e2a\u4eba\u4e3b\u9875\u5de6\u4fa7\u8054\u7cfb\u6211<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5b8c\u6574\u4ee3\u7801&#xff0c;\u9644\u4e0b\u8f7d\u94fe\u63a5\u6b22\u8fce\u4ea4\u6d41&#xff0c;\u4f46\u8bf7\u52ff\u7ffb\u5356 \u6587\u7ae0\u76ee\u5f55\u7a0b\u5e8f\u4ecb\u7ecd\u6982\u89c8\u8def\u5f84\u89c4\u5212\u6a21\u578b\u91cf\u6d4b\u6a21\u578b\u8fd0\u884c\u7ed3\u679c\u771f\u5b9e\u622a\u56feMATLAB\u6e90\u4ee3\u7801\u7a0b\u5e8f\u4ecb\u7ecd<br \/>\n\u6982\u89c8<br \/>\n\u7a0b\u5e8f\u4e3a\u4e09\u7ef4RRT\u8def\u5f84\u89c4\u5212\u4e0eTDOA\u5b9a\u4f4d\u7b97\u6cd5\u3002\u8def\u5f84\u89c4\u5212\u90e8\u5206\u91c7\u7528RRT\u5feb\u901f\u968f\u673a\u6811&#xff0c;\u5b9a\u4f4d\u90e8\u5206\u91c7\u7528 TDOA \u91cf\u6d4b\u6a21\u578b\u3002TDOA\u90e8\u5206\u5305\u542b\u5230\u8fbe\u65f6\u95f4\u5dee\u91cf\u6d4b\u3001\u7c97\u7f51\u683c\u521d\u503c\u548cGauss-Newton\u8fed\u4ee3<br \/>\n\u8def\u5f84\u89c4\u5212\u6a21\u578b<br 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