clear
clc
close all
load('data1.mat');
nn = size(imuPosX,1);
%% lightHouse坐标系转换
x =  lightHousePosX * 100;
y = -lightHousePosZ * 100;

% 定义误差函数，即均方根误差
errorFunction = @(params) sqrt(mean((x(1:500) * cos(params(1)) - y(1:500) * sin(params(1)) + params(2) - imuPosX(1:500)).^2 + (x(1:500) * sin(params(1)) + y(1:500) * cos(params(1)) + params(3) - imuPosY(1:500)).^2));

% 使用 fminsearch 优化误差函数，找到使误差最小的旋转角和位移
initialGuess = [0, 10, 10]; % 初始猜测值，[旋转角, 位移]
optimizedParams = fminsearch(errorFunction, initialGuess);

% 输出优化后的旋转角和位移
rotationAngle = optimizedParams(1);
xOffset = optimizedParams(2);
yOffset = optimizedParams(3);
% 旋转坐标
xt = x * cos(rotationAngle) - y * sin(rotationAngle) + xOffset;
yt = x * sin(rotationAngle) + y * cos(rotationAngle) + yOffset;
%%
tagN = 4;
%标签坐标
XN(:,1)=[-300;-300];
XN(:,2)=[-300;300];
XN(:,3)=[300;300];
XN(:,4)=[300;-300];
sim2=6;
Q=diag(repmat(sim2,1,2*tagN));%协方差矩阵
measure_AOA = zeros(4,nn);
measure_d = zeros(4,nn);
measure_AOA(1,:) = aoa1';
measure_AOA(2,:) = aoa2';
measure_AOA(3,:) = aoa3';
measure_AOA(4,:) = aoa4';
measure_d(1,:) = d1';
measure_d(2,:) = d2';
measure_d(3,:) = d3';
measure_d(4,:) = d4';
%% uwb解算
x_uwb(1) = 0;
y_uwb(1) = 0;
theta_uwb=zeros(nn,1);
for i=2:nn
    if measure_d(1,i) == 0
        x_uwb(i) = x_uwb(i-1);
        y_uwb(i) = y_uwb(i-1);        
        continue;
    end
    [t1,theta] = WLS(XN,measure_AOA(:,i),measure_d(:,i),Q);
    x_uwb(i) = t1(1);
    y_uwb(i) = t1(2);
    theta_uwb(i) = 90-theta;
    theta_uwb(i) = mod(theta_uwb(i)+180,360)-180;
    derr_WLS(i)=norm(t1-[xt(i);yt(i)]);
end
thetat=zeros(nn,1);
for i=2:nn
detx=xt(i)-xt(i-1);
dety=yt(i)-yt(i-1);
thetat(i)=atan2d(detx,dety);
end
% Uwb.x=x_uwb;
% Uwb.y=y_uwb;
% Uwb.alpha=theta_uwb;


% 角速度校准
detW = mean(wZ(1:200));
wZ = wZ - detW;

x_imu(1) = 0; 
y_imu(1) = 0;
Z=zeros(3,1);
WW = 0.05;
theta_imu(1) = 0;


%%  EKF
KK = zeros(5,3);

%%
%%AEKF
R = diag([1 1 1]);
% qq = 50;
% qq = 10;
qq = 0.01;
Q = diag([qq qq qq qq qq]);
P0 = diag([0 0 0 0 0]);
H = [1 0 0 0 0;
     0 1 0 0 0;
     0 0 0 1 0];
X_aekf = zeros(5,nn);
X_aekf(:,1) = [imuPosX(1);imuPosY(1);vXY(1)*100;0;wZ(1)];
I = eye(5);
JF = zeros(5,5);
X_pre = zeros(5,nn);
alfa = 0.97;

windowlength=5;
x_aekf_sw=zeros(1,nn);
y_aekf_sw=zeros(1,nn);
for i=2:nn
    detImuTime = imuDataRxTime(i) - imuDataRxTime(i-1);
    detOdomTime = odomDataRxTime(i)-odomDataRxTime(i-1);
    w = wZ(i);
    v = vXY(i)*100;
    detV=(vXY(i)-vXY(i-1))*100;
    detD = v*detImuTime; 
    detTheta = w*180/pi*detImuTime;
    detW = w-wZ(i-1);
    theta_imu(i) = theta_imu(i-1)+detTheta;
    theta_imu(i) = mod(theta_imu(i)+180,360)-180;
    F = [1 0 detImuTime*cosd(X_aekf(4,i-1)) 0 0;
         0 1 detImuTime*sind(X_aekf(4,i-1)) 0 0;
         0 0 0 0 0;
         0 0 0 0 0;
         0 0 0 0 0;];
     
    if w<WW
        vtx = detD*cosd(theta_imu(i));
        vty = detD*sind(theta_imu(i));
    else
        vtx = v/w*(sind(theta_imu(i))-sind(theta_imu(i-1)));
        vty = v/w*(-cosd(theta_imu(i))+cosd(theta_imu(i-1)));           
    end
    
    x_imu(i) = x_imu(i-1)+vtx; 
    y_imu(i) = y_imu(i-1)+vty;
    X_next = [vtx;vty;detV;detTheta;detW];
    
    if (x_uwb(i) == x_uwb(i-1))&&(y_uwb(i) == y_uwb(i-1))
        X_aekf(:,i) = X_aekf(:,i-1)+X_next;
        errAEKf(i) = norm(X_aekf(1:2,i)-[xt(i);yt(i)]);
        theta_aekf(i) = X_aekf(4,i);
        continue
    end    
    if w<WW
        X_pre(:,i) = X_aekf(:,i-1)+X_next;
        Z = [x_uwb(i);y_uwb(i);theta_uwb(i)];
        P = F*P0*F'+Q;
        Kg = P*H'*inv(H*P*H'+R);
        KK(1,1) = Kg(1,1);
        KK(2,2) = Kg(2,2);
        KK(4,3) = Kg(4,3);
        X_aekf(:,i) = X_pre(:,i)+KK*(Z-H*X_pre(:,i));
        P0 = (I-Kg*H)*P;
    else
        JF = [1 0 1/w*(sind(theta_imu(i))-sind(theta_imu(i-1))) v/w*(cosd(theta_imu(i))-cosd(theta_imu(i-1))) detD/w*cosd(theta_imu(i))-v/(w^2)*(sind(theta_imu(i))-sind(theta_imu(i-1)));
             0 1 1/w*(-cosd(theta_imu(i))+cosd(theta_imu(i-1))) v/w*(sind(theta_imu(i))-sind(theta_imu(i-1))) detD/w*sind(theta_imu(i))-v/(w^2)*(-cosd(theta_imu(i))+cosd(theta_imu(i-1)));
             0 0 1 0 0;
             0 0 0 1 detImuTime;
             0 0 0 0 1];
        X_pre(:,i) = X_aekf(:,i-1)+X_next;
        dk = Z - H*X_pre(:,i);
        Z = [x_uwb(i);y_uwb(i);theta_uwb(i)];
        P = JF*P0*JF'+Q;
        Kg = P*H'*inv(H*P*H'+R);
        KK(1,1) = Kg(1,1);
        KK(2,2) = Kg(2,2);
        KK(4,3) = Kg(4,3);
        X_aekf(:,i) = X_pre(:,i)+KK*(Z-H*X_pre(:,i));
        epz = Z-H*X_aekf(:,i);
        R=alfa*R+(1-alfa)*(epz*epz'+H*P*H');
        Q=alfa*Q+(1-alfa)*Kg*dk*dk'*Kg';
        P0 = (I-Kg*H)*P;
    end
    errAEKf(i) = norm(X_aekf(1:2,i)-[xt(i);yt(i)]);
    theta_aekf(i) = X_aekf(4,i);
    % if errAEKf(i)>15
    %     xxx = 1;
    % end
end
errAEKf_sw=zeros(1,nn);
weightedvector=[0.3;0.25;0.2;0.15;0.1];
for i=1:nn
if i>windowlength-1
    x_win=X_aekf(1,i-windowlength+1:i);
    y_win=X_aekf(2,i-windowlength+1:i);
    x_aekf_sw(i)=x_win*weightedvector;
    y_aekf_sw(i)=y_win*weightedvector;
else 
    x_aekf_sw(i)=X_aekf(1,i);
    y_aekf_sw(i)=X_aekf(2,i);
end
errAEKf_sw(i) = norm([x_aekf_sw(i);y_aekf_sw(i)]-[xt(i);yt(i)]);
end

figure;
plot(errAEKf_sw);
figure;
plot(x_imu,y_imu,xt,yt);
mean(errAEKf_sw)