ekf_nmcda_update.m

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

%EKF_NMCDA_PREDICT  EKF/NMCDA Update step
%
% Syntax:
%   [S,EV_STRS] = ekf_nmcda_update(S,Y,t,H,R,h,V,CP,CD,
%                                    a_birth,l_birth,
%                                    a_death,l_death,param)
%
% In:
%   S  - Struct array 1xNP of particles
%   Y  - Dx1 measurement vector
%   t  - Time stamp of the measurement
%   H  - Derivative of h() with respect to state as matrix,
%        inline function or name of function in
%        form H(x,param).
%   R  - Measurement noise covariance.
%   h  - Mean measurement prediction as vector,
%        inline function or name of function in
%        form h(x,param). (optional, for default see EKF_UPDATE)
%   V  - Derivative of h() with respect to noise as matrix,
%        inline function or name of function in
%        form V(x,param). (optional, for default see EKF_UPDATE)
%   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, h and V. 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:
%   EKF_NMCDA_INIT, EKF_NMCDA_PREDICT, EKF_UPDATE

% History:
%   11.02.2008  Added support for the new particle structure
%   24.08.2004  Changed birth/death model to that of article
%   09.12.2003  The first official version.
%
% Copyright (C) 2003 Simo S鋜kk