target_tracking_simulation.m

使用卡尔曼滤波进行目标追踪的matlab源代码

function varargout = Target_Tracking_Simulation(varargin)
% TARGET_TRACKING_SIMULATION M-file for Target_Tracking_Simulation.fig
%      TARGET_TRACKING_SIMULATION, by itself, creates a new TARGET_TRACKING_SIMULATION or raises the existing
%      singleton*.
%
%      H = TARGET_TRACKING_SIMULATION returns the handle to a new TARGET_TRACKING_SIMULATION or the handle to
%      the existing singleton*.
%
%      TARGET_TRACKING_SIMULATION('Property','Value',...) creates a new TARGET_TRACKING_SIMULATION using the
%      given property value pairs. Unrecognized properties are passed via
%      varargin to Target_Tracking_Simulation_OpeningFcn.  This calling syntax produces a
%      warning when there is an existing singleton*.
%
%      TARGET_TRACKING_SIMULATION('CALLBACK') and TARGET_TRACKING_SIMULATION('CALLBACK',hObject,...) call the
%      local function named CALLBACK in TARGET_TRACKING_SIMULATION.M with the given input
%      arguments.
%
%      *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 Target_Tracking_Simulation

% Last Modified by GUIDE v2.5 28-Jun-2005 16:21:59

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @Target_Tracking_Simulation_OpeningFcn, ...
                   'gui_OutputFcn',  @Target_Tracking_Simulation_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 Target_Tracking_Simulation is made visible.
function Target_Tracking_Simulation_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   unrecognized PropertyName/PropertyValue pairs from the
%            command line (see VARARGIN)

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

% Update handles structure
guidata(hObject, handles);

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


% --- Outputs from this function are returned to the command line.
function varargout = Target_Tracking_Simulation_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 on button press in IMM.
function IMM_Callback(hObject, eventdata, handles)
% hObject    handle to IMM (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get user input from GUI
T = str2double(get(handles.T,'String'));
if T-floor(T)>0
    errordlg('T must be integer!');
    error('input T is not integer!');
end
mont = str2double(get(handles.mont,'String'));
if mont-floor(mont)>0
    errordlg('mont must be integer!');
    error('input mont is not integer!');
end
d = str2double(get(handles.d,'String'));
% Calculate data
[x,y,zx,zy,XXE,YYE,XERB,YERB,XSTD,YSTD]=IMM(T,mont,d);
% plot
axes(handles.plotTrack);
plot(zx,zy,'g',x,y,'r',XXE,YYE,'b');
axis([1500 5000 -8000 11000]);
title('IMM算法仿真');
legend('观测数据','真实轨迹','滤波估计');
axes(handles.meanX);
plot(XERB)
axis([0 500 -50 50])
xlabel('观测次数n')
title('E(X-Ximm)');
axes(handles.stdX);
plot(XSTD)
axis([0 500 0 150])
xlabel('观测次数n')
title('Std(X-Ximm)')
axes(handles.meanY);
plot(YERB)
axis([0 500 -50 50])
xlabel('观测次数n')
title('E(Y-Yimm)')
axes(handles.stdY);
plot(YSTD)
axis([0 500 0 150])
xlabel('观测次数n')
title('Std(Y-Yimm)')
% --- 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)
% Get user input from GUI
T = str2double(get(handles.T,'String'));
if T-floor(T)>0
    errordlg('T must be integer!');
    error('input T is not integer!');
end
M = str2double(get(handles.mont,'String'));
if M-floor(M)>0
    errordlg('mont must be integer!');
    error('input mont is not integer!');
end
d = str2double(get(handles.d,'String'));
% Calculate data
[x,y,zx,zy,XXE,YYE,XERB,YERB,XSTD,YSTD]=LS(T,M,d);
% plot
axes(handles.plotTrack);
plot(zx,zy,'g',x,y,'r',XXE,YYE,'b');
axis([1500 5000 -8000 11000]);
title('最小二乘算法仿真');
legend('观测数据','真实轨迹','滤波估计');
axes(handles.meanX);
plot(XERB)
axis([0 500 -500 500])
xlabel('观测次数n')
title('E(X-Xls)');
axes(handles.stdX);
plot(XSTD)
axis([0 500 0 150])
xlabel('观测次数n')
title('Std(X-Xls)')
axes(handles.meanY);
plot(YERB)
axis([0 500 -500 500])
xlabel('观测次数n')
title('E(Y-Yls)')
axes(handles.stdY);
plot(YSTD)
axis([0 500 0 150])
xlabel('观测次数n')
title('Std(Y-Yls)')