test.asv

非线性跟踪中贝叶斯滤波算法

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%测角传感器似然函数
% Target=Target-Nod;
% [thr0 r0]=cart2pol(Target(1),Target(2));
% 
% Reference=Reference-Nod;
% Target=[Reference(1)+0.001*randn Reference(2)+0.001*randn];
ar=4;
ao=(180/180)*pi;
Target=[15 15]
[thr0 r0]=cart2pol(Target(1),Target(2));
Target=[Target(1)+0.001*randn Target(2)+0.001*randn]

for i=1:99
    for j=1:99
        %%%%%%%%%%%
        x=i/2;
        y=j/2;
        x=x-25;
        y=y-25;
        x=x+Target(1);
        y=y+Target(2);
        [thr r]=cart2pol( x , y );
        %%%%%%%%%%%%
        if( thr>=0 & thr0>=0  )
            Pcorrect(i,j)=1/2/pi/ao*exp( -0.5*(thr-thr0)^2/ao^2)*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
        end
        %%%%%%%%%%%%
        if( thr<0 & thr0<0)
            Pcorrect(i,j)=1/2/pi/ao*exp( -0.5*(thr-thr0)^2/ao^2)*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
        end
        %%%%%%%%%%%%
        if( thr>=0 & thr0<0 )
            z1=thr;
            z2=pi-thr;
            z3=pi+thr0;
            z4=-thr0;
            if( (z2+z3)<=pi )
                Pcorrect(i,j)=1/2/pi/ao*exp( -0.5*(z2+z3)^2/ao^2)*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
            else
                Pcorrect(i,j)=1/2/pi/ao*exp( -0.5*(z1+z4)^2/ao^2)*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
            end
        end
        %%%%%%%%%%%%%
        if( thr<0 & thr0>=0 )
            z1=thr0;
            z2=pi-thr0;
            z3=pi+thr;
            z4=-thr;
            if( (z2+z3)<=pi )
                Pcorrect(i,j)=1/2/pi/ao*exp( -0.5*(z2+z3)^2/ao^2)*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
            else
                Pcorrect(i,j)=1/2/pi/ao*exp( -0.5*(z1+z4)^2/ao^2)*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
            end
        end    
        %%%%%%%%%%%%
    end
end
%%%%%%%%%%%%
%经过仔细分析,这部分是对的
Pcorrect=Pcorrect/sum(sum(Pcorrect));
figure,pcolor(Pcorrect);
colormap(gray(10))

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ar=3;
% Target=[5 5]
% [thr0 r0]=cart2pol(Target(1),Target(2));
% Target=[Target(1)+0.001*randn Target(2)+0.001*randn]
% 
% for i=1:99
%     for j=1:99
%         %%%%%%%%%%%
%         x=i/2;
%         y=j/2;
%         x=x-25;
%         y=y-25;
%         x=x+Target(1);
%         y=y+Target(2);
%         [thr r]=cart2pol( x , y );
% 
%         Pcorrect(i,j)=1/2/pi*exp(-0.5*(r-r0)^2/ar^2)/ar/r; 
%         
%     end
% end
% %%%%%%%%%%%%
% %经过仔细分析,这部分是对的
% % Pcorrect(50,50)=0;
% Pcorrect=Pcorrect/sum(sum(Pcorrect));
% figure,pcolor(Pcorrect);
% colormap(gray(10))