A Real-Time UWB Location and Tracking System Based on TWR-TDOA Estimation and a Simplified MPGA Layout Optimization
Algorithm 1
The distribution of anchors is optimized via simplified MPGA.
Input: (the range matrix of the given space), (the height of the measured plane), (maximum iteration times), (the population size), (the crossover rate), (the mutation probability)
Output: (the anchor coordinates)
(1)
;
(2)
Initialize the populations and generate plenty of random coordinates in each population according to
(3)
Evaluate the fitness values via equation (19) and all chromosomes are ranked according to the fitness values;
(4)
while
(5)
for to
(6)
Calculate the fitness of individuals in according to ;
(7)
Select the better chromosomes as parents that have the more fitness values;
(8)
Cross the chosen parents to produce new offspring at a probability of ;
(9)
Mutate the new offspring at a probability of ;
(10)
Calculate the fitness of the individual in the offspring;
(11)
Reinserts offspring in the ;
(12)
end
(13)
for to
(14)
if
(15)
Replace the worst chromosome in with the best one in ;
(16)
else
(17)
Replace the worst chromosome in with the best one in ;
(18)
end
(19)
end
(20)
Select the best individual in each population as the elite population;
(21)
Select all the converted chromosomes to find the minimum value and to reassemble the chromosomes;
(22)
If the new minimum value is less than the old one
(23)
;
(24)
Save the new minimum value and update according to the new chromosomes;
