kf_nmcda_update_sa.m

基于RBMCDA (Rao-Blackwellized Monte Carlo Data Association)方法的多目标追踪程序

%KF_NMCDA_UPDATE_SA  KF/NMCDA Update step (single DA per target)
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% Syntax:
%   [SS,EV_STRS] = kf_nmcda_update_sa(S,Y,time,H,R,pd,CD,pb,alpha,beta)
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% Author:
%   Simo S鋜kk