update_states.m

对运动声目标进行航迹跟踪

function xu = update_states(xnow,xpre,q,schid);



resamplingScheme=schid;

[rows,colums]=size(q);

N=colums;



for lp1=1:rows
    
    w=q(lp1,:);
    
if resamplingScheme == 1
    outIndex = residualR(1:N,w');        % Residual resampling.
  elseif resamplingScheme == 2
    outIndex = deterministicR(1:N,w');   % Minimum variance resampling.
  else  
    outIndex = multinomialR(1:N,w');     % Multinomial resampling.  
  end;
  xnow(lp1,:) = xpre(lp1,outIndex); % Keep particles with
                                              % resampled indices.
end                                             
          
xu = xnow;