【无人机】基于最小二乘法实现无线电地图重构附matlab代码

set(0,'defaultfigurecolor',[1 1 1])clear, close alladdpath Sub%rng('default')
%% DATA COLLECTION --------------------------------------------------------% Topology parametersK_class = 2;sample_rate = 1;meter_pixel = 9;map_height = 50;    % Drone height for air-to-ground power mapsample_height = 50; % Drone height for learning (Learning stage)neighbour_mat = [0 0; -1 0; 0 -1; 1 0; 0 1] * 39; %neighbour_weight = [0.6; 0.1; 0.1; 0.1; 0.1]; % Sum-to-onetest_positions = round(1:100);noise_guass = 3; % dB stdn_ue = 50; % [8*8 9*10 11*11 13*13 15*16 18*18 21*22 25*26 30*30 35*36]*8n_uav = 50 * length(sample_height);    % 15:50:9 50:200:5 100:400n_mea = n_ue * n_uav;n_uav = round(n_uav / length(sample_height));residual_on = false;residsec_on = false;residthi_on = false;residfou_on = false;residfiv_on = true;segment_on = false;segresid_on = false;plot_on = false;kmeans_on = false;
% DATA = load('radiomap_shanghai100tx_2.5GHz.mat');% DATA = load('radiomap_simulated100tx_noise.mat');% DATA = load('radiomap_shanghai115tx_28GHz.mat');% DATA = load('radiomap_simulated100tx_nonoise');DATA = load('radiomap_simulated100tx_3class.mat');pos_ue = DATA.PosUE;Xdata = zeros(n_mea, 6); Gdata = zeros(n_mea, 1);Ddata = zeros(n_mea, 1);Gtrue = cell(n_ue, 1);cnt = 0;
figure(1)title("Users' locations")hold onpos_ue_all = zeros(size(pos_ue));userids = sort(randperm(length(pos_ue), n_ue));for id = 1:length(userids)    % i must increase    i = userids(id);    % Training data    for j = 1:length(sample_height)        uav_height = sample_height(j);        x = pos_ue(i,1); y = pos_ue(i,2); z = pos_ue(i,3);        I = (DATA.RadioMap(:, 6) == uav_height) ...            & (DATA.RadioMap(:, 1) == x) ...            & (DATA.RadioMap(:, 2) == y)...            & (DATA.RadioMap(:, 3) == z);        Rm2D = DATA.RadioMap(I, :);        Xvec = Rm2D(:, 4); Yvec = Rm2D(:, 5); Zvec = Rm2D(:, end);        [Xmat,Ymat] = meshgrid((min(Xvec):5:max(Xvec)),(min(Yvec):5:max(Yvec)));        Zmat = griddata(Xvec, Yvec, Zvec, Xmat, Ymat);        position = [x-min(Xvec)+1 y-min(Yvec)+1 z];        Xmat = Xmat - min(Xvec) + 1;        Ymat = Ymat - min(Yvec) + 1;        % Data pre-processing        Zmat(isnan(Zmat)) = min(min(Zmat));        Zmat = Zmat + randn(size(Zmat)) * noise_guass;        Xvec = Xmat(:);        Yvec = Ymat(:);        Zvec = Zmat(:);        dist = log10(vecnorm([Xvec Yvec uav_height*ones(length(Xvec),1)] - ...            ones(length(Xvec),3).*position, 2, 2));        position = [ceil(position(1:2)) z];        if ~exist('idx', 'var')            %idx = 1:ceil(length(Xvec)/nDrone):length(Xvec);            idx = randperm(length(Xvec), n_uav);        end        uav_positon = ceil([Xvec(idx) Yvec(idx)]);        uav_num = length(uav_positon);        cnt = cnt + uav_num;        Xdata(cnt-uav_num+1:cnt, :) = [uav_positon ...            uav_height.*ones(uav_num,1) ones(uav_num,3).*position];        Gdata(cnt-uav_num+1:cnt, :) = Zvec(idx);        Ddata(cnt-uav_num+1:cnt, :) = dist(idx);
        figure(1)        plot(position(1), position(2), '.');        text(position(1), position(2), string(i));
        pos_ue_all(i, :) = position;    end    % Test data    uav_height = map_height;    x = pos_ue(i,1); y = pos_ue(i,2); z = pos_ue(i,3);    I = (DATA.RadioMap(:, 6) == uav_height) ...        & (DATA.RadioMap(:, 1) == x) ...        & (DATA.RadioMap(:, 2) == y)...        & (DATA.RadioMap(:, 3) == z);    Rm2D = DATA.RadioMap(I, :);    Xvec = Rm2D(:, 4); Yvec = Rm2D(:, 5); Zvec = Rm2D(:, end);    [Xmat,Ymat] = meshgrid((min(Xvec):5:max(Xvec)),(min(Yvec):5:max(Yvec)));    Zmat = griddata(Xvec, Yvec, Zvec, Xmat, Ymat);    position = [x-min(Xvec)+1 y-min(Yvec)+1 z];    Xmat = Xmat - min(Xvec) + 1;    Ymat = Ymat - min(Yvec) + 1;    % Data pre-processing    Xvec = Xmat(:);    Yvec = Ymat(:);    Zvec = Zmat(:);    Zmat(isnan(Zmat)) = min(Zvec);    Gtrue{i} = Zmat;endlenx = ceil(max(Xvec)/meter_pixel);leny = ceil(max(Yvec)/meter_pixel);n_mea = cnt;Xdata = Xdata(1:cnt, :); Ydata = Gdata(1:cnt, :);Ddata = Ddata(1:cnt, :);maps.BldMapZ = zeros(lenx, leny);maps.BldPosMat = ones(lenx, leny);maps.FolPosMat = zeros(lenx, leny);maps.meterPerPixel = meter_pixel;
% Generate collinear obstacles setobstacles = (1:lenx*leny)';nObst = length(obstacles);cols = cell(nObst, 2);   % collinear measurements of each obstaclecovB = cell(n_mea, 2);for id = 1:n_mea    uav_pos_meter = Xdata(id, 1:3);    uav_pos_pixel = [floor(uav_pos_meter(1:2)/meter_pixel)+1, uav_pos_meter(3)];    ue_pos_meter = Xdata(id, 4:6);    ue_pos_pixel = [floor(ue_pos_meter(1:2)/meter_pixel)+1, ue_pos_meter(3)];    [cov_bld, cov_z] = covBldZ(uav_pos_pixel, ue_pos_pixel, lenx);    cov_bld = cov_bld(cov_z > 0 & cov_z <= map_height);    cov_z = cov_z(cov_z > 0 & cov_z <= map_height);    covB{id, 1} = cov_bld;    covB{id, 2} = cov_z;    for i = 1:length(cov_bld)        j = cov_bld(i);        ib = find(obstacles == j, 1, 'first');        if ~isempty(ib)            if ~isempty(cols{ib, 1})                cols{ib, 1} = [cols{ib, 1} id];                cols{ib, 2} = [cols{ib, 2} cov_z(i)];            else                cols{ib, 1} = id;                cols{ib, 2} = cov_z(i);            end        end    endend
%% LOCAL POLY RECONSTRUCTION ----------------------------------------------MAXLOOP = 9;tolerance = 1e-3;metrics = cell(MAXLOOP, 6);maps.droneHeightMap = map_height;maps.neighbourMat = neighbour_mat;maps.neighbourWeight = neighbour_weight;
% InitializationR.X = Xdata;P = polyfit(Ddata, Ydata, 1);delta = Ydata - (P(1) * Ddata + P(2));w = delta > 0;W = [w w ~w ~w];A = [Ddata ones(n_mea, 1)];A_ = W .* [A A];X = (A_' * A_) \ A_' * Ydata;A = repmat(A, 1, K_class+1);R.Z1 = zeros(n_mea, K_class+1);R.Alpha = zeros(1, K_class+1);R.Beta = zeros(1, K_class+1);for k = 1:K_class+1    R.Alpha(k) = X(1) - (X(1) - X(3)) * ((k-1)/K_class);    R.Beta(k) = X(2) - (X(2) - X(4)) * ((k-1)/K_class);    R.Z1(:, k) = -abs(Ydata-(R.Alpha(k)*Ddata+R.Beta(k)));end
% -- coarse resolution --dsfactor = 4;       % Downsampling factor[small_maps, S, Hs] = downsampleMaps(maps, dsfactor, R);R.Hs = Hs; R.S = S;smap_hat = ones([K_class numel(small_maps.BldMapZ)]) * map_height;
for i = 1:MAXLOOP    [smap_hat, W] = optimizeH(R, small_maps, smap_hat);    A_ = W .* A;    X = (A_' * A_) \ A_' * Ydata;    R.Alpha = X(1:2:end);    R.Beta = X(2:2:end);    for k = 1:K_class+1        R.Z1(:, k) = -abs(Ydata-(R.Alpha(k)*Ddata+R.Beta(k)));    endend
% -- medium resolution --dsfactor2 = 2;  [medium_maps, S, Hs] = downsampleMaps(maps, dsfactor2, R);R.Hs = Hs; R.S = S;mmap_hat = zeros([K_class numel(medium_maps.BldMapZ)]);for k = 1:K_class    upsample_matrix = repelem(reshape(smap_hat(k, :), ...        size(small_maps.BldMapZ)), round(dsfactor/dsfactor2), ...        round(dsfactor/dsfactor2));    mmap_hat(k, :) = vec(upsample_matrix(1:size(medium_maps.BldMapZ, 1),...        1:size(medium_maps.BldMapZ, 2)));end
for i = 1:MAXLOOP    [mmap_hat, W] = optimizeH(R, medium_maps, mmap_hat);    A_ = W .* A;    X = (A_' * A_) \ A_' * Ydata;    R.Alpha = X(1:2:end);    R.Beta = X(2:2:end);    for k = 1:K_class+1        R.Z1(:, k) = -abs(Ydata-(R.Alpha(k)*Ddata+R.Beta(k)));    endend
% -- fine resolution (3 meter) --dsfactor3 = 1;[maps, S, Hs] = downsampleMaps(maps, dsfactor3, R);R.Hs = Hs; R.S = S;map_hat = zeros([K_class numel(maps.BldMapZ)]);for k = 1:K_class    upsample_matrix = repelem(reshape(mmap_hat(k, :), ...        size(medium_maps.BldMapZ)), round(dsfactor2/dsfactor3), ...        round(dsfactor2/dsfactor3));    map_hat(k, :) = vec(upsample_matrix(1:size(maps.BldMapZ, 1),...        1:size(maps.BldMapZ, 2)));end
h  = waitbar(0, 'Estimate building heights');for i = 1:MAXLOOP    waitbar(i / MAXLOOP, h);    [map_hat, W] = optimizeH(R, maps, map_hat);    A_ = W .* A;    X = (A_' * A_) \ A_' * Ydata;    R.Alpha = X(1:2:end);    R.Beta = X(2:2:end);    for k = 1:K_class+1        R.Z1(:, k) = -abs(Ydata-(R.Alpha(k)*Ddata+R.Beta(k)));    endendclose(h);
% hf = showmap(BldMapHat + FolMapHat, Maps.meterPerPixel, 8);% title('Esitmated building and foliage height');
if kmeans_on == true    c_i = D1 ./ abs((X(1)*Ddata+X(2)) - (X(3)*Ddata+X(4)));    obs_clu = zeros(nObst, map_height);    for i = 1:map_height        for j = 1:nObst            obs_clu(j, i) = mean(c_i(cols{j, 1}(ceil(cols{j, 2}) == i)));        end    end    obs_clu(isnan(obs_clu)) = 0;    bld_ind = zeros(lenx, leny);    bld_ind(maps.BldPosMat > 0) = kmeans(obs_clu, 5);end
figure, hold onfor k = 1:K_class+1    plot(Ddata(W(:, 2*k) > 1/(K_class+1)), ...        Ydata(W(:, 2*k) > 1/(K_class+1)), '.', 'Color', rand([1 3]));endfigure, hold onfor k = K_class+1:-1:1    plot(Ddata(W(:, 2*k) > 1/(K_class+1)), ...        Ydata(W(:, 2*k) > 1/(K_class+1)), '.', 'Color', rand([1 3]));endif isfield(DATA, 'BldPosMat')    k = K_class;    map_hat(k, DATA.BldPosMat(round(1:DATA.lenX/lenx:DATA.lenX), ...        round(1:DATA.lenY/leny:DATA.lenY)) < 1) = 0;endheights = reshape(map_hat(K_class, :), size(maps.BldMapZ));for i = 1:length(pos_ue_all)    x = round(pos_ue_all(i, 1) / meter_pixel);    y = round(pos_ue_all(i, 2) / meter_pixel);    if x == 0 || y == 0, continue, end    heights(x, y) = 0;end% heights(heights >= droneHeightMap | heights == droneHeightMap/2) = 0;% indicator = heights >= UserHeight;% heights = medfilt1(heights .* (heights <= DroneHeight)) .* indicator;figure; showmap(heights, meter_pixel);title(sprintf('Height from L model at %d meters', round(map_height)));
uav_num = uav_num * length(sample_height);
%% RADIOMAP AND PERFORMANCE -----------------------------------------------% Channel model C.A1 = X(1); C.B1 = X(2); C.S1 = 0;C.A2 = 0; C.B2 = 0; C.S2 = 0; C.A3 = X(3); C.B3 = X(4); C.S3 = 0;channel_model.C = C;channel_model.los_nlos_trans = 0;channel_model.noise = 0;
metrics_mse = []; metrics_mae = [];XYkr = [vec(meshgrid(1:lenx, 1:leny)'), vec(meshgrid(1:leny, 1:lenx)), ...    ones(lenx * leny, 1) * map_height / meter_pixel];Xann = [vec(meshgrid(1:lenx, 1:leny)'), vec(meshgrid(1:leny, 1:lenx)) ...    * meter_pixel, ones(lenx * leny, 1) * map_height];net = fitnet([32 32 16 16 8 8 4 4]); %fitnet([(4:8).^2 (8:-1:2).^2]);net = train(net, [Xdata Ddata X(1)*Ddata+X(2) X(3)*Ddata+X(4)]', Ydata', ...    'useParallel', 'no', 'showResources', 'no');
j = 1;for i = 1:length(pos_ue)    if pos_ue_all(i, 1) == 0 || pos_ue_all(i, 2) == 0, continue, end    if ~ismember(i, test_positions), j = j + 1; continue, end    Gtru = Gtrue{i}';    % Radiomap reconstruction    Xdata_i = [Xdata((j-1)*uav_num+1:j*uav_num,1:2)/meter_pixel, ...        Xdata((j-1)*uav_num+1:j*uav_num,3)/meter_pixel];    Ydata_i = Ydata((j-1)*uav_num+1:j*uav_num);    idx = randperm(length(Xdata_i), round(length(Xdata_i) / sample_rate));    Xdata_i = Xdata_i(idx, :); Ydata_i = Ydata_i(idx, :);    d_variogram = variogram(Xdata_i(:, 1:2), Ydata_i);    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    if n_mea > 1e9        idx = randperm(length(Xdata_i), round(length(Xdata_i) / sample_rate));        Gkri = kriging(vstruct,Xdata_i(idx,:),false,Ydata_i(idx),XYkr,false);    else        idx = randperm(length(Xdata), round(length(Xdata) / sample_rate));        Gkri = kriging(vstruct, Xdata(idx,:)/meter_pixel, false, Ydata(idx), ...        [XYkr ones(length(XYkr), 3).*pos_ue_all(i, :)/meter_pixel], false);    end    Xann_upos = ones(length(XYkr), 3).*pos_ue_all(i, :);    Xann_dist = log10(vecnorm(Xann - Xann_upos, 2, 2));    Xann_features = [Xann Xann_upos ...        Xann_dist X(1)*Xann_dist+X(2) X(3)*Xann_dist+X(4)]';    Gann = net(Xann_features);    Gann = reshape(Gann, [lenx leny]);    Gkri = reshape(Gkri, [lenx leny]);    Gknn = powerMapReconKNN(R,Ydata,pos_ue_all(i, :),map_height,maps);    Gbld = powerMapReconBld(R,heights,heights,pos_ue_all(i, :),map_height,maps);    Gbdk = powerMapReconKBld(R, map_hat, pos_ue_all(i, :), map_height, maps);    % Radiomap reconstruction with residual    if residual_on == true    [~, id] = min(abs(sample_height - map_height));    droneHeightRes = sample_height(id)/meter_pixel;    ResX = floor(Xdata_i(:, 1:2)) + 1;    ResX = ResX(Xdata_i(:, 3) == droneHeightRes, :);    ResG = Ydata_i(Xdata_i(:, 3) == droneHeightRes);    Gbld = powerMapReconBld(R,heights,heights,pos_ue_all(i, :),map_height,maps);    Gbld = imgaussfilt(Gbld, 1);    for k = 1:length(ResX)        ResG(k) = ResG(k) - Gbld(ResX(k, 1), ResX(k, 2));    end    d_variogram = variogram(ResX, ResG);    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    Rkri = kriging(vstruct, ResX(:,1), ResX(:,2), ...        ResG, meshgrid(1:lenx, 1:leny)', meshgrid(1:leny, 1:lenx));    Gbld = Gbld + reshape(Rkri, [lenx leny]);    end    if residsec_on == true    ResX = Xdata / meter_pixel;    P = (X(1)*Ddata + X(2) - Ydata)./(X(1)*Ddata + X(2) - X(3)*Ddata - X(4));    P(P < 0) = 0; P(P > 1) = 1;    ResG = Ydata - w1.*(X(1)*Ddata + X(2)) - w2.*(X(3)*Ddata + X(4));    d_variogram = variogram(Xdata((j-1)*uav_num+1:j*uav_num,1:2)/meter_pixel, ...        Ydata((j-1)*uav_num+1:j*uav_num));    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    ResRec = kriging(vstruct, ResX, false, ResG, ...    [XYkr ones(length(XYkr), 3).*pos_ue_all(i, :)/meter_pixel], false);    ResRec = reshape(ResRec, [lenx leny]);    Gbld = Gbld + ResRec;    end    if residthi_on == true    Rind = true(length(ResX), 1);    for k = 1:length(ResX)        ResG(k) = ResG(k) - Gbld(ResX(k, 1), ResX(k, 2));        Rind(k) = Gind(ResX(k, 1), ResX(k, 2));    end    d_variogram = variogram(ResX(Rind,:), ResG(Rind));    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    LOSSeg = kriging(vstruct, ResX(Rind,1), ResX(Rind,2), ...        ResG(Rind), meshgrid(1:lenx, 1:leny)', meshgrid(1:leny, 1:lenx));    d_variogram = variogram(ResX(~Rind,:), ResG(~Rind));    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    NLOSSeg = kriging(vstruct, ResX(~Rind,1), ResX(~Rind,2), ...        ResG(~Rind), meshgrid(1:lenx, 1:leny)', meshgrid(1:leny, 1:lenx));    Gbld = Gbld + LOSSeg .* Gind + NLOSSeg .* ~Gind;    end    if residfou_on == true    ResY = []; ResR = [];    for id = 1:length(sample_height)        h = sample_height(id)/meter_pixel;        ResX = [floor(Xdata_i(:, 1:2)) + 1 Xdata_i(:, 3)];        ResX = ResX(Xdata_i(:, 3) == h, :);        ResG = Ydata_i(Xdata_i(:, 3) == h);        Gbld = powerMapReconBld(R,heights,heights,pos_ue_all(i, :),h,maps);        Gbld = imgaussfilt(Gbld, 3);        for k = 1:length(ResX)            ResG(k) = ResG(k) - Gbld(ResX(k, 1), ResX(k, 2));        end        x = ResX(:, 1) - pos_ue_all(i, 1)/meter_pixel;        y = ResX(:, 2) - pos_ue_all(i, 2)/meter_pixel;        h = h/meter_pixel - pos_ue_all(i, 3)/meter_pixel;        l = vecnorm([x y], 2, 2);        theta1 = atan2(y,x); theta2 = atan2(h,l);        ResR = [ResR; min(theta1+pi,pi-theta1)/pi*180 ...            min(theta2+pi,pi-theta2)/pi*180 sqrt(l.^2 + h^2)];        ResY = [ResY; ResG];    end    d_variogram = variogram(ResR, ResY);    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    Rkri = krigingR(vstruct, Xdata((j-1)*uav_num+1:j*uav_num,1:3)/ ...        meter_pixel, ResY, XYkr, pos_ue_all(i, :)/meter_pixel);    Gbld = powerMapReconBld(R,heights,heights,pos_ue_all(i, :),map_height,maps);    Gbld = imgaussfilt(Gbld, 3) + reshape(Rkri, [lenx leny]);    end    if residfiv_on == true    [~, id] = min(abs(sample_height - map_height));    droneHeightRes = sample_height(id)/meter_pixel;    ResX = floor(Xdata_i(:, 1:2)) + 1;    ResX = ResX(Xdata_i(:, 3) == droneHeightRes, :);    ResG = Ydata_i(Xdata_i(:, 3) == droneHeightRes);    Gind = powMapRecBldSof(R,heights,[],pos_ue_all(i, :),map_height,maps,[]);    Gind = imgaussfilt(Gind, 3);    Glos = powMapRecBldSof(R,heights-realmax,[],pos_ue_all(i, :),map_height,maps);    Gnlo = powMapRecBldSof(R,heights+realmax,[],pos_ue_all(i, :),map_height,maps);    Gbld = Gind .* Glos + (1 - Gind) .* Gnlo;    Gbdn = Gbld;    for k = 1:length(ResX)        ResG(k) = ResG(k) - Gbld(min(lenx, ResX(k, 1)), min(leny, ResX(k, 2)));    end    d_variogram = variogram(ResX, ResG);    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    Rkri = kriging(vstruct, ResX(:,1), ResX(:,2), ...        ResG, meshgrid(1:lenx, 1:leny)', meshgrid(1:leny, 1:lenx));    Gbld = Gbld + reshape(Rkri, [lenx leny]);    end    % Radiomap reconstruction with segmentation    if segment_on == true    d_variogram = variogram(Xdata(w1, :)/meter_pixel, Ydata(w1));    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    LOSSeg = kriging(vstruct,Xdata(w1, :)/meter_pixel, false, Ydata(w1), ...        [XYkr ones(length(XYkr), 3).*pos_ue_all(i, :)/meter_pixel], false);    d_variogram = variogram(Xdata(w2, :)/meter_pixel, Ydata(w2));    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    NLOSSeg = kriging(vstruct,Xdata(w2, :)/meter_pixel, false, Ydata(w2), ...        [XYkr ones(length(XYkr), 3).*pos_ue_all(i, :)/meter_pixel], false);    LOSSeg = reshape(LOSSeg, [lenx leny]);    NLOSSeg = reshape(NLOSSeg, [lenx leny]);    Gind = powerMapReconBld(R,heights,heights,pos_ue_all(i, :),map_height,maps,1);    Gbld = LOSSeg .* Gind + NLOSSeg .* ~Gind;    end    % Radiomap reconstruction with residual and segmentation    if segresid_on == true    Xlos = Xdata(w1, :) / meter_pixel;     Ylos = Ydata(w1) - Ddata(w1) * X(1) - X(2);    Xnlos = Xdata(w2, :) / meter_pixel;    Ynlos = Ydata(w2) - Ddata(w2) * X(3) - X(4);    d_variogram = variogram(Xlos, Ylos);    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    LOSSeg = kriging(vstruct, Xlos, false, Ylos, ...        [XYkr ones(length(XYkr), 3).*pos_ue_all(i, :)/meter_pixel], false);    d_variogram = variogram(Xnlos, Ynlos);    [~, ~, ~, vstruct] = variogramfit(d_variogram.distance, d_variogram.val, ...        [], [], [], 'model', 'exponential', 'plotit', false);    NLOSSeg = kriging(vstruct, Xnlos, false, Ynlos, ...        [XYkr ones(length(XYkr), 3).*pos_ue_all(i, :)/meter_pixel], false);    LOSSeg = reshape(LOSSeg, [lenx leny]);    NLOSSeg = reshape(NLOSSeg, [lenx leny]);    Gind = powerMapReconBld(R,heights,heights,pos_ue_all(i, :),map_height,maps,1);    Gbld = Gbld + LOSSeg .* Gind + NLOSSeg .* ~Gind;    end    % Performance and figures    xm = length(Zmat);    if xm <= lenx        Gbld = Gbld(round(1:lenx/xm:lenx),round(1:lenx/xm:lenx));        Gkri = Gkri(round(1:lenx/xm:lenx),round(1:lenx/xm:lenx));        Gknn = Gknn(round(1:lenx/xm:lenx),round(1:lenx/xm:lenx));        Gann = Gann(round(1:lenx/xm:lenx),round(1:lenx/xm:lenx));        Gbdk = Gbdk(round(1:lenx/xm:lenx),round(1:lenx/xm:lenx));    else        Gtru = Gtru(round(1:xm/lenx:xm),round(1:xm/lenx:xm));    end    if plot_on == true    figure(300 + i);    subplot(2, 3, 1); showmap(Gkri, meter_pixel);    subplot(2, 3, 2); showmap(Gknn, meter_pixel);    subplot(2, 3, 3); showmap(Gann, meter_pixel);    subplot(2, 3, 4); showmap(Gbdk, meter_pixel);    subplot(2, 3, 5); showmap(Gbld, meter_pixel);    subplot(2, 3, 6); showmap(Gtru, meter_pixel);    % figure(400 + i); showmap(reshape(Rkri, [lenX lenY]), 9);    disp_str = strcat('Position ',string(i),': ',string(mean(abs(vec(...        Gtru-Gkri)))),' vs. ',string(mean(abs(vec(Gtru-Gknn)))),' vs. ',...        string(mean(abs(vec(Gtru-Gbld)))),'; ',string(mse(Gtru-Gkri)),...        ' vs. ',string(mse(Gtru-Gknn)),' vs. ',string(mse(Gtru-Gbld)));    disp(disp_str); input('');    end    metrics_mse = [metrics_mse; mse(Gtru-Gkri) mse(Gtru-Gknn) ...        mse(Gtru-Gann) mse(Gtru-Gbdk) mse(Gtru-Gbld)];    metrics_mae = [metrics_mae; mean(abs(vec(Gtru-Gkri))) ...        mean(abs(vec(Gtru-Gknn))) mean(abs(vec(Gtru-Gann))) ...        mean(abs(vec(Gtru-Gbdk))) mean(abs(vec(Gtru-Gbld)))];    j = j + 1;enddisp([mean(metrics_mae, 1) mean(metrics_mse, 1) n_ue]);