init_particles.asv

基于声纳信息的粒子滤波算法

function Init_particles
%--------------------------------------------------------------
%inital particles.this is ok
global num
global  p
%--------------------------------------------------------------
for k=1:1:num
% 2007.09.29
%--------------------------------------------------------------
%     p(k,1)=7.3*rand(1);
%     p(k,2)=4.6*rand(1);
%     p(k,3)=360*rand(1);
    
    
    p(k,4)=1./num;    
    Init_oneParticle(k);
end 
%---------------------------------------------------------------