ukf_mcda_predict.m

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

%UKF_MCDA_PREDICT  UKF Monte Carlo Data Association Prediction
%
% Syntax:
%   S = UKF_MCDA_PREDICT(S,a,Q,param)
%
% In:
%   S     - 1xN cell array of particle structures
%   a     - Dynamical model as cell array
%           of size TxN, for each target in each particle,
%           or inline function or name of function in
%           form a(x,param).                 (optional, default A(x,i)*X)
%   Q     - Process noise of discrete model as numeric matrix
%           if common for all targets, or as cell array
%           of size TxN for all targets and particles
%           separately.                      (optional, default zero)
%   param - parameters of a
%
% Out:
%   S     - 1xN cell array of predicted particle structures
 %   
% Description:
%   Perform Unscented Kalman Filter prediction step for each target
%   and each association hypothesis particle. The model is
%
%     x_i[k] = a_i(x_i[k-1],param)
%
%   for each target i. Dynamics a_i() for each target
%   are assumed to have known statistics.
%
% See also:
%   UKF_MCDA_UPDATE

% History:
%   28.01.2008  JH  Added support for particle structures
%   13.05.2003  SS  The first official version.
%
% Copyright (C) 2003 Simo S鋜kk