gene_2d_scn.m

一个目标跟踪系统的MATLAB 源程序包

% gene_2d_scn.m
%
% generate the ground truth for a 2-D scenario of two closely spaced targets

function target = generate_2d_scn(numScan, start_time, time_interval)

% initial values
target(1).time(1)=start_time;
target(2).time(1)=start_time;
target(1).state(:, 1) = [100e3; 150; 150e3; -10];
target(2).state(:, 1) = [100e3; 150; 148e3; 10];
% generate the true state of the two targets
q = .01;               % process noise std, set to be very low
F = [ 1, time_interval, 0, 0;
   0, 1, 0, 0;
   0, 0, 1, time_interval;
   0, 0, 0, 1];
G = [time_interval^2/2, 0; time_interval, 0; 0, time_interval^2/2; 0, time_interval];
for i=2:numScan
    target(1).time(i) = target(1).time(i-1) + time_interval;
    target(2).time(i) = target(2).time(i-1) + time_interval;
    target(1).state(:,i) = F*target(1).state(:,i-1) + G*(q.*randn(2,1));
    target(2).state(:,i) = F*target(2).state(:,i-1) + G*(q.*randn(2,1));
end