lstrack.m

这是一个利用MATLAB6.5进行航迹跟踪的程序序

function varargout = LSTrack(varargin) 
% LSTRACK Ment-file for LSTrack.fig
%      LSTRACK, by itself, creates a new LSTRACK or raises the existing
%      singleton*.
%
%      H = LSTRACK returns the handle to a new LSTRACK or the handle to
%      the existing singleton*.
%
%      LSTRACK('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in LSTRACK.Ment with the given input arguments.
%
%      LSTRACK('Property','Value',...) creates a new LSTRACK or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before LSTrack_OpeningFunction gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to LSTrack_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help LSTrack

% Last Modified by GUIDE v2.5 25-Jun-2006 20:54:10

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @LSTrack_OpeningFcn, ...
                   'gui_OutputFcn',  @LSTrack_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin & isstr(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before LSTrack is made visible.
function LSTrack_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to LSTrack (see VARARGIN)

% Choose default command line output for LSTrack
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes LSTrack wait for user response (see UIRESUME)
% uiwait(handles.figure1);

set(handles.trace1,'value',1);%默认是非机动状态
% --- Outputs from this function are returned to the command line.

%====================================================================
function varargout = LSTrack_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;

%====================================================================
% --- Executes during object creation, after setting all properties.
function d_CreateFcn(hObject, eventdata, handles)
% hObject    handle to d (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


%====================================================================
function d_Callback(hObject, eventdata, handles)
% hObject    handle to d (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of d as text
%        str2double(get(hObject,'String')) returns contents of d as a double


% --- Executes during object creation, after setting all properties.
%====================================================================
function T_CreateFcn(hObject, eventdata, handles)
% hObject    handle to T (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function T_Callback(hObject, eventdata, handles)
% hObject    handle to T (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of T as text
%        str2double(get(hObject,'String')) returns contents of T as a double

%====================================================================
% --- Executes during object creation, after setting all properties.
function Ment_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Ment (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


%====================================================================
function Ment_Callback(hObject, eventdata, handles)
% hObject    handle to Ment (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Ment as text
%        str2double(get(hObject,'String')) returns contents of Ment as a double

%====================================================================
% --- Executes on button press in trace1.
function trace1_Callback(hObject, eventdata, handles)
% hObject    handle to trace1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of trace1

set(handles.trace2,'value',0);%选项互斥

%====================================================================
% --- Executes on button press in trace2.
function trace2_Callback(hObject, eventdata, handles)
% hObject    handle to trace2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of trace2
set(handles.trace1,'value',0);%选项互斥

%====================================================================
% --- Executes on button press in LS.
function LS_Callback(hObject, eventdata, handles)
% hObject    handle to LS (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

trace1=get(handles.trace1,'value');
trace2=get(handles.trace2,'value');

%扫描周期应该是正整数且不能太大
T = str2double(get(handles.T,'String'));
if T-floor(T)>0
    errordlg('扫描周期应该是正整数!');
end
if T>100
    errordlg('扫描周期不能太大!');
end

M = str2double(get(handles.Ment,'String'));
if M-floor(M)>0
    errordlg('mont must be integer!');
end

d = str2double(get(handles.d,'String'));

if trace1==1 %非机动
    %产生非机动真实轨迹[x,y]
    [X_Real,Y_Real]=realTrack1(T);
    
    %LS算法
 %   [x,y,zx,zy,XXE,YYE,XERB,YERB,XSTD,YSTD]=LS(T,M,d,X,Y);
     [X_Obsv_M,Y_Obsv_M,X_Filt_M,Y_Filt_M,Error_X,Error_Y,Std_X,Std_Y] = LS_C(M,d,X_Real,Y_Real);
    
    %结果
    axes(handles.trace);
    plot(X_Obsv_M,Y_Obsv_M,'g',X_Real,Y_Real,'r',X_Filt_M,Y_Filt_M,'b');
    axis([500 3500 3000 11000]);
    legend('观测轨迹','真实轨迹','滤波轨迹');
    
end

if trace2==1
    %产生非机动真实轨迹[x,y]
    [X_Real,Y_Real]=realTrack2(T);
    
    %LS算法
 %   [x,y,zx,zy,XXE,YYE,XERB,YERB,XSTD,YSTD]=LS(T,M,d,X,Y);
     [X_Obsv_M,Y_Obsv_M,X_Filt_M,Y_Filt_M,Error_X,Error_Y,Std_X,Std_Y] = LS_C(M,d,X_Real,Y_Real);
    
    %结果
    axes(handles.trace);
    plot(X_Obsv_M,Y_Obsv_M,'g',X_Real,Y_Real,'r',X_Filt_M,Y_Filt_M,'b');
    axis([1000 10000 -2000 11000]);
    legend('观测轨迹','真实轨迹','滤波轨迹');
end

axes(handles.ErrorX);
n=1:length(Error_X);
plot(n,Error_X,'b',n,Error_Y,'r');
xlabel('观测点');
legend('X','Y');
title('X-Y方向误差的均值');

axes(handles.ErrorY);
n=1:length(Error_X);
plot(n,Std_X,'b',n,Std_Y,'r');
xlabel('观测点')
legend('X','Y');
title('X-Y方向误差的均方值');