measurefunc.m

目标跟踪的仿真对于产生量测、噪声和杂波以及目标运动各种模型的matlab代码

function Measure=MeasureFunc(state,Pd,MeasureVar)
% H=[1 0 0 0 0 0;0 0 0 1 0 0];
mea_dim=size(MeasureVar,2);
randomNum=randn(mea_dim,1);
for i=1:1:mea_dim
    if randomNum(i,1)>1
        randomNum(i,1)=1;
    elseif randomNum(i,1)<-1
        randomNum(i,1)=-1;
    end
end  
measureNoise = chol(MeasureVar)*randomNum;

if rand(1,1)<=Pd
    Measure(1,1) = sqrt(state(1,1).^2+state(4,1).^2) + measureNoise(1,1);
    Measure(2,1) = atan(state(4,1)/state(1,1)) + measureNoise(2,1);  % 注意atan 的范围
    Measure(size(Measure,1)+1,1)=1;
else
    Measure =[];
end;