llr_gau_pda2.m

一个目标跟踪系统的MATLAB 源程序包

% log-likelihood function for toy problem toy_GauPDA.m

function LLR = LLR_Gau_PDA2(theta, Z, sigma, lambda, Pd, Pg)
N = length(Z);
A = 10;
LLR = 0;
for i=1:N
    M = length(Z(i).Z);
    if M<1
        LLR = LLR + log(1-Pd*Pg);
     else
        C = 1-Pd*Pg+M/2/A/lambda*Pd*Pg;
        exp_terms = sum(exp(-(Z(i).Z-theta).^2./2./sigma^2));
        LLR = LLR + log(1-Pd*Pg+Pd*Pg/lambda/sqrt(2*pi)/sigma*exp_terms)-log(C);
    end
end

% use negative sign for minimization
LLR = -LLR;