f_confirm_measure2.m

多目标跟踪 (三维)-算法matlab编制

function[miss_detect_flag,mes_flag,confirm_matrix,confirm_meas,confirm_meas_total]=f_confirm_measure2(cl_element_total,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
miss_detect_flag=linspace(0,0,cl_element_total)+1;
mes_flag=linspace(0,0,mes_total);
temp1=[];
temp2=zeros(mes_total,cl_element_total+1);%
temp2(:,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
        u1=[u(1,j) u(4,j) u(7,j)]';  %u1是x,y,z坐标的最小值
        u2=[u(2,j) u(5,j) u(9,j)]';  %u2是x,y,z坐标的最大值
        if measurement(:,i)<=u2&measurement(:,i)>=u1&mes_flag(i)==0%位于该聚中任何一个目标的跟踪门内
            confirm_meas_total=confirm_meas_total+1;%确认量测总数
            temp1=[temp1 measurement(:,i)];%临时确认量测
            temp2(confirm_meas_total,j+1)=1;%临时确认矩阵
            mes_flag(i)=1;
        end
        if measurement(:,i)<=u2&measurement(:,i)>=u1
           miss_detect_flag(j)=0;
           temp2(confirm_meas_total,j+1)=1;%临时确认矩阵-----2003-4-25日修改！
        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,目标号为该聚内部局部编码