ukf_nmcda_predict_dp.m

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

%UKF_NMCDA_PREDICT_DP  UKF/NMCDA Prediction step with target death processing
%
% Syntax:
%   [S,EV_STRS] = ekf_nmcda_predict_dp(S,A,Q,a,AW,param,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)
%   a  - Mean prediction function as inline
%        function or name of function in
%        form AM(x [,P1,P2]).                (optional, default A(x,i)*X)
%   AW - Derivative of a() with respect to
%        noise q as matrix, or as inline
%        function or name of function in
%        form AW(x [,P1,P2]).                (optional, default identity)
%   param - Parameters of a
%   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.
%
% See also:
%   EKF_NMCDA_INIT, EKF_NMCDA_UPDATE_DP

% History:
%    
%   25.01.2008  The first official version.
%
% Copyright (C) 2008 Simo S鋜kk