kf_nmcda_predict_dp.m

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

%KF_NMCDA_PREDICT_DP  KF/NMCDA Prediction step
%
% Syntax:
%   [S,EV_STRS] = kf_nmcda_predict_dp(S,A,Q,B,u,t,alpha,beta)
%
% In:
%   S - Struct array 1xNP of particles
%   A - Transition matrix of discrete model (optional, default identity)
%   Q - Process noise of discrete model     (optional, default zero)
%   B - Input effect matrix                 (optional, default identity)
%   U - Constant input                      (optional, default empty)
%   t - Time of the prediction step
%   alpha - Parameter alpha for the gamma
%           distribution model for time to death     (optional, default 1)
%   beta  - Parameter beta for the gamma
%           distribution model for time to death     (optional, default 10)
%
% Out:
%   S - Predicted struct array of particles
%   EV_STRS - Comment strings of happened events
%
% Description:
%   Perform prediction step of Rao-Blackwellized Monte Carlo
%   Data Association Algorithm with Number of Targets estimation.
%   Processes the target deaths with the assumption that only one
%   target can die in each time step.
%
% See also:
%   KF_NMCDA_INIT, KF_NMCDA_UPDATE, KF_PREDICT

% History:
%   30.10.2003  The first official version.
%
% Copyright (C) 2003 Simo S鋜kk