379 lines
11 KiB
Go
379 lines
11 KiB
Go
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package simulation
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import (
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"encoding/json"
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"fmt"
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"math"
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"math/rand"
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"sync"
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vector "moxitech/drone/simulation-go/pkg/vector"
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"moxitech/drone/simulation-go/utils"
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"github.com/dhconnelly/rtreego" // R-Tree для пространственного индекса
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)
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type UAV struct {
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Path map[int][]float64
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Speed *vector.Vector3
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Freq float64 // Частота передачи
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Radius float64 // Радиус покрытия в километрах
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}
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type CGS struct {
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Position *vector.Vector3
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Radius float64 // Радиус покрытия в километрах
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Frequency float64 // Частота передачи в МГц
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}
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type Simulation struct {
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elevationDefault float64
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distanceDefault float64
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uavs map[int]*UAV
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cgs map[int]*CGS
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heights map[string]float64 // высоты в формате "lat,lon": высота
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idGen func() int
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timeline []int
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mutex sync.Mutex
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rtree *rtreego.Rtree
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results []SimulationResult
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}
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type SimulationResult struct {
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Time int `json:"time"`
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UAVs map[int]UAVResult `json:"uavs"`
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CGSs map[int]CGSResult `json:"cgs"`
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}
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type UAVResult struct {
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Position *vector.Vector3 `json:"position"`
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Freq float64 `json:"frequency"`
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Radius float64 `json:"radius"`
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DataRate float64 `json:"data_rate"`
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}
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type CGSResult struct {
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Position *vector.Vector3 `json:"position"`
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Radius float64 `json:"radius"`
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Frequency float64 `json:"frequency"`
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}
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func NewSimulation() *Simulation {
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return &Simulation{
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elevationDefault: 85.0 * (math.Pi / 180), // 15 degrees in radians
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distanceDefault: 1000.0, // km
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uavs: make(map[int]*UAV),
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cgs: make(map[int]*CGS),
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heights: make(map[string]float64),
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idGen: utils.GetIDGenerator(),
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rtree: rtreego.NewTree(2, 25, 50), // Инициализация R-Tree
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results: []SimulationResult{},
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}
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}
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// Adding CGS (ground station) with coverage radius and frequency
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func (s *Simulation) AddCGS(pos []float64, radius float64, frequency float64) {
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s.mutex.Lock()
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defer s.mutex.Unlock()
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cgsID := s.idGen()
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cgsVector := new(vector.Vector3).SetOn(0, pos[0], pos[1])
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s.cgs[cgsID] = &CGS{
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Position: cgsVector,
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Radius: radius,
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Frequency: frequency,
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}
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s.rtree.Insert(cgsVector) // Добавление в R-Tree
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}
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// Adding UAV with its path and coverage radius
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func (s *Simulation) AddUAV(path map[int][]float64, speed []float64, radius float64) {
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s.mutex.Lock()
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defer s.mutex.Unlock()
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uavID := s.idGen()
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speedVector := &vector.Vector3{X: speed[0], Y: speed[1], Z: speed[2]}
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freq := 5030 + rand.Float64()*(5090-5030) // Генерация частоты в диапазоне 5030-5090 МГц
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s.uavs[uavID] = &UAV{
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Path: path,
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Speed: speedVector,
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Freq: freq,
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Radius: radius,
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}
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for _, p := range path {
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pos := new(vector.Vector3).SetOn(p[0], p[1], p[2])
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s.rtree.Insert(pos) // Добавление позиций в R-Tree
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}
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}
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// Removing UAV
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func (s *Simulation) RemoveUAV(id int) {
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s.mutex.Lock()
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defer s.mutex.Unlock()
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delete(s.uavs, id)
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}
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func (s *Simulation) GetPosition(uav *UAV, time int) *vector.Vector3 {
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// Determine known time slices
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keys := make([]int, 0)
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for k := range uav.Path {
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keys = append(keys, k)
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}
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if _, exists := uav.Path[time]; exists {
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return new(vector.Vector3).SetOn(uav.Path[time][0], uav.Path[time][1], uav.Path[time][2])
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}
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// If out of known range, use speed to estimate position
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if time < keys[0] || time > keys[len(keys)-1] {
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initialTime := keys[len(keys)-1]
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initialPosition := &vector.Vector3{
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X: uav.Path[initialTime][1],
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Y: uav.Path[initialTime][2],
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Z: uav.Path[initialTime][0],
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}
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deltaTime := float64(time - initialTime)
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speedComponent := uav.Speed.Scale(deltaTime)
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return initialPosition.Add(speedComponent)
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}
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// Otherwise interpolate
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keys = append(keys, time)
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keys = utils.Sorted(keys)
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idx := utils.IndexOf(keys, time)
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temp := new(vector.Vector3)
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temp.RerpVectors(
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&vector.Vector3{X: uav.Path[keys[idx-1]][1], Y: uav.Path[keys[idx-1]][2], Z: uav.Path[keys[idx-1]][0]},
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&vector.Vector3{X: uav.Path[keys[idx+1]][1], Y: uav.Path[keys[idx+1]][2], Z: uav.Path[keys[idx+1]][0]},
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float64(time-keys[idx-1])/float64(keys[idx+1]-keys[idx-1]),
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)
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return temp.Copy()
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}
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// Setting timeline configuration
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func (s *Simulation) SetTimeline(conf []int) {
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s.timeline = make([]int, 0)
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for i := conf[0]; i < conf[1]; i += conf[2] {
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s.timeline = append(s.timeline, i)
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}
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}
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// Calculating Great Circle Distance (to account for Earth's curvature)
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func GreatCircleDistance(v1, v2 *vector.Vector3) float64 {
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lat1, lon1 := v1.Y*(math.Pi/180), v1.X*(math.Pi/180)
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lat2, lon2 := v2.Y*(math.Pi/180), v2.X*(math.Pi/180)
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dlat := lat2 - lat1
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dlon := lon2 - lon1
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a := math.Sin(dlat/2)*math.Sin(dlat/2) + math.Cos(lat1)*math.Cos(lat2)*math.Sin(dlon/2)*math.Sin(dlon/2)
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c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
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R := 6371.0 // Радиус Земли в км
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return R * c
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}
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// FreeSpacePathLoss Calculating Free Space Path Loss (FSPL)
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func FreeSpacePathLoss(distance float64, frequency float64) float64 {
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return 20*math.Log10(distance*1e3) + 20*math.Log10(frequency) - 20*math.Log10(3e8/frequency) + 32.44
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}
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// Determining Line of Sight (LoS)
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// Function to represent Line of Sight (LoS) check considering terrain and Fresnel zones
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func (s *Simulation) HasLineOfSight(v1, v2 *vector.Vector3) bool {
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// Расчет расстояния и средней точки между v1 и v2
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distance := GreatCircleDistance(v1, v2)
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midpoint := &vector.Vector3{
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X: (v1.X + v2.X) / 2,
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Y: (v1.Y + v2.Y) / 2,
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Z: (v1.Z + v2.Z) / 2,
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}
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// Проверка высоты на средней точке для оценки наличия препятствий
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key := fmt.Sprintf("%.6f,%.6f", midpoint.X, midpoint.Y)
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terrainHeight, exists := s.heights[key]
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if exists && midpoint.Z < terrainHeight {
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return false
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}
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// Проверка первой зоны Френеля
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fresnelRadius := FresnelZoneRadius(distance, v1.Length(), v2.Length())
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if midpoint.Z < terrainHeight+fresnelRadius {
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return false
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}
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return true
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}
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// Calculate the radius of the first Fresnel zone
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func FresnelZoneRadius(distance, height1, height2 float64) float64 {
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wavelength := 3e8 / 5.06e9 // Средняя частота 5060 МГц
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return math.Sqrt((wavelength * distance) / (height1 + height2))
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}
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// Calculating connectivity between UAVs and CGSs
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func (s *Simulation) CalculateConnectivity() {
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for _, uav := range s.uavs {
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for time := range s.timeline {
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uavPosition := s.GetPosition(uav, time)
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if uavPosition == nil {
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continue
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}
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for _, cgs := range s.cgs {
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distance := GreatCircleDistance(uavPosition, cgs.Position)
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if distance <= uav.Radius && distance <= cgs.Radius && s.HasLineOfSight(uavPosition, cgs.Position) {
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fspl := FreeSpacePathLoss(distance, uav.Freq*1e6) // Используем частоту UAV в МГц
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snr := 100.0 / (fspl + 1) // Примерный SNR для расчетов
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modulation := s.CalculateModulation(distance)
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dataRate := s.CalculateDataRate(modulation, snr)
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fmt.Printf("\u0412ремя %d: UAV на позиции (%.2f, %.2f, %.2f) может подключиться к CGS на позиции (%.2f, %.2f, %.2f) с потерями %.2f дБ, модуляция: %s, частота CGS: %.2f МГц, скорость передачи: %.2f Mbps\n",
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time, uavPosition.X, uavPosition.Y, uavPosition.Z,
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cgs.Position.X, cgs.Position.Y, cgs.Position.Z, fspl, modulation, cgs.Frequency, dataRate)
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}
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}
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s.results = append(s.results, s.CollectResult(time))
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}
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}
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}
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// Calculate Modulation Scheme Based on Distance
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func (s *Simulation) CalculateModulation(distance float64) string {
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if distance < 500 {
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return "64-QAM"
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} else if distance < 1000 {
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return "16-QAM"
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} else if distance < 2000 {
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return "QPSK"
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}
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return "BPSK"
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}
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func (s *Simulation) CalculateDataRate(modulation string, snr float64) float64 {
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var spectralEfficiency float64
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switch modulation {
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case "64-QAM":
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spectralEfficiency = 6.0
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case "16-QAM":
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spectralEfficiency = 4.0
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case "QPSK":
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spectralEfficiency = 2.0
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case "BPSK":
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spectralEfficiency = 1.0
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default:
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spectralEfficiency = 0.5
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}
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// Подсчет пропускной способности (в Mbps)
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bandwidth := 20.0 // Пропускная способность канала в МГц
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dataRate := bandwidth * spectralEfficiency * math.Log2(1+snr)
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return dataRate
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}
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// CollectResult collects the current state of the simulation at a given time
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func (s *Simulation) CollectResult(time int) SimulationResult {
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uavsResult := make(map[int]UAVResult)
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for id, uav := range s.uavs {
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position := s.GetPosition(uav, time)
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if position != nil {
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uavsResult[id] = UAVResult{
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Position: position,
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Freq: uav.Freq,
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Radius: uav.Radius,
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DataRate: s.CalculateDataRate(s.CalculateModulation(GreatCircleDistance(position, s.cgs[1].Position)),
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100.0/(FreeSpacePathLoss(GreatCircleDistance(position, s.cgs[1].Position), uav.Freq*1e6)+1)),
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}
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}
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}
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cgsResult := make(map[int]CGSResult)
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for id, cgs := range s.cgs {
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cgsResult[id] = CGSResult{
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Position: cgs.Position,
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Radius: cgs.Radius,
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Frequency: cgs.Frequency,
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}
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}
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return SimulationResult{
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Time: time,
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UAVs: uavsResult,
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CGSs: cgsResult,
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}
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}
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// GetResultsJSON returns the results of the simulation as a JSON string
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func (s *Simulation) GetResultsJSON() (string, error) {
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jsonData, err := json.MarshalIndent(s.results, "", " ")
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if err != nil {
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return "", err
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}
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return string(jsonData), nil
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}
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// Test function to create example data and run the simulation
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func TestSimulation() []byte {
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sim := NewSimulation()
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// Add CGSs (Ground Stations)
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sim.AddCGS([]float64{55.7558, 37.6176}, 100, 5060)
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sim.AddCGS([]float64{56.7558, 37.7176}, 80, 5080)
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sim.AddCGS([]float64{34.0522, -118.2437}, 120, 5035)
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// Add UAVs (drones) with paths and speed
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sim.AddUAV(map[int][]float64{
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0: {1000, 55.7558, 37.6176},
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10: {1100, 56.0, 38.0},
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20: {2200, 256.5, 78.5},
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}, []float64{10, 0.1, 0.1}, 100)
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sim.AddUAV(map[int][]float64{
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0: {1050, 55.7558, 37.6176},
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10: {1100, 56.0, 38.0},
|
|||
|
|
20: {1200, 56.5, 38.5},
|
|||
|
|
}, []float64{100, 0.1, 0.1}, 50)
|
|||
|
|
|
|||
|
|
sim.AddUAV(map[int][]float64{
|
|||
|
|
0: {1010, 55.7558, 37.6176},
|
|||
|
|
10: {1100, 56.0, 38.0},
|
|||
|
|
20: {1200, 56.5, 38.5},
|
|||
|
|
}, []float64{10, 0.1, 0.1}, 100)
|
|||
|
|
|
|||
|
|
sim.AddUAV(map[int][]float64{
|
|||
|
|
0: {1500, 40.7128, -74.0060},
|
|||
|
|
10: {1600, 41.0, -73.5},
|
|||
|
|
20: {1700, 41.5, -73.0},
|
|||
|
|
}, []float64{12, 0.15, 0.1}, 100)
|
|||
|
|
|
|||
|
|
sim.AddUAV(map[int][]float64{
|
|||
|
|
0: {1400, 34.0522, -118.2437},
|
|||
|
|
10: {1500, 34.5, -118.0},
|
|||
|
|
20: {1600, 35.0, -117.5},
|
|||
|
|
}, []float64{15, 0.2, 0.1}, 100)
|
|||
|
|
|
|||
|
|
sim.AddUAV(map[int][]float64{
|
|||
|
|
0: {1300, 48.8566, 2.3522},
|
|||
|
|
10: {1350, 49.0, 2.5},
|
|||
|
|
20: {1400, 49.5, 3.0},
|
|||
|
|
}, []float64{8, 0.1, 0.05}, 100)
|
|||
|
|
|
|||
|
|
// Set timeline configuration [start, end, step]
|
|||
|
|
sim.SetTimeline([]int{0, 50, 1})
|
|||
|
|
|
|||
|
|
// Run simulation and print results
|
|||
|
|
fmt.Println("Результаты симуляции:")
|
|||
|
|
for _, t := range sim.timeline {
|
|||
|
|
fmt.Printf("\nВремя %d секунд:\n", t)
|
|||
|
|
for uavID, uav := range sim.uavs {
|
|||
|
|
position := sim.GetPosition(uav, t)
|
|||
|
|
if position != nil {
|
|||
|
|
fmt.Printf("UAV %d на позиции (%.2f, %.2f, %.2f)\n", uavID, position.X, position.Y, position.Z)
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
sim.CalculateConnectivity()
|
|||
|
|
}
|
|||
|
|
result, err := json.Marshal(sim.results)
|
|||
|
|
if err != nil {
|
|||
|
|
panic(err)
|
|||
|
|
}
|
|||
|
|
return result
|
|||
|
|
}
|