kf_nmcda_collect.m

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

%KF_NMCDA_COLLECT  Collects and smooth trajectories from NMCDA output
%
% Syntax:
%   [FM,FP,SM,SP,Times] = kf_nmcda_collect(SS,A,Q [,silent])
%
% In:
%   SS     - NTxNP cell array of NP particle structures in NT time steps
%   A      - Transition matrix of discrete model (optional, default identity)
%   Q      - Process noise of discrete model     (optional, default zero)
%   silent - Should the function be silent
% 
% Out:
%   FM    - Filtered means of each target in each particle
%   FP    - Filtered covariances of each target in each particle
%   SM    - Smoothed means of each target in each particle
%   SP    - Smoothed covariances of each target in each particle
%   Times - Time instances when each target was alive in each particle
%
% Description:
%   Collects and smooths target trajectories from NMCDA outputs.
%
% See also:
%   NMCDA_INIT, KF_NMCDA_PREDICT, KF_NMCDA_UPDATE, 
%
% History:
%   11.02.2008 JH Added description and cleared the code a bit. 
%   30.10.2003 SS The first official version.
%
% Copyright (C) 2003 Simo S鋜kk