f_confirm_measure.m

多目标跟踪 (三维)-算法matlab编制

[confirm_matrix,confirm_meas,confirm_meas_total]=function f_confirm_measure(c,cl_element_total,cl_matrix,measurement,mes_total,u);%该函数用于确定该聚中所有量测
%确认聚中所有量测以及形成该聚的确认矩阵
temp1=[];
temp2=zeros(mes_total,cl_element_total);
confirm_matrix(:,1)=1;%所有量测可能源于虚警
confirm_meas_total=0;
for i=1:mes_total
    for j=1:cl_element_total
        target_no=cl_matrix(j);
        u1=[u(1,target_no) u(3,target_no) u(5,target_no)]';
        u2=[u(2,target_no) u(4,target_no) u(6,target_no)]';
        if measurement(:,i)<=u2&measurement(:,i)>=u1
            confirm_meas_total=confirm_meas_total+1;%确认量测总数
            temp1=[temp1 measurement(:,i)];
            temp2(confirm_meas_total,target_no+1)=1;
        end
    end
end
confirm_meas=temp1;%该聚中所有确认量测
confirm_matrix=temp2(1:confirm_meas_total,:);%确认矩阵