ukf_nmcda_update.m

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

%UKF_NMCDA_PREDICT  UKF/NMCDA Update step
%
% Syntax:
%   [S,EV_STRS] = ukf_nmcda_update(S,Y,t,h,R,CP,CD,pb,alpha,beta,param)
%
% In:
%   S  - Struct array 1xNP of particles
%   Y  - Dx1 measurement vector
%   t  - Time stamp of the measurement
%   h  - Mean measurement prediction as vector,
%        inline function or name of function in
%        form h(x,param). (optional, for default see EKF_UPDATE)
%   R  - Measurement noise covariance.
%   CP - Prior probability of a measurement being due
%        to clutter.                               (optional, default zero)
%   CD - Probability density of clutter measurements,
%        which could be for example 1/V, where V is
%        the volume of clutter measurement space.  (optional, default 0.01)
%   pb    - Prior probability of birth             (optional, default 0.01)
%   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)
%   param - Parameters of h. See, for instance, ekf_predict1 or ekf_update1
%           for more details.
% 
% Out:
%         S - Predicted struct array of particles
%   EV_STRS - Comment strings of happened events
%
% Description:
%   Perform update step of Rao-Blackwellized Monte Carlo
%   Data Association Algorithm with Number of Targets estimation.
%
% See also:
%   UKF_NMCDA_INIT, UKF_NMCDA_PREDICT, UKF_UPDATE

% History:
%   05.02.2008  The first official version.
%
% Copyright (C) 2003 Simo S鋜kk