az_h_2a.m

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

%AZ_H Azimuth measurement function for EKF.with 2d attributes
%
%  \V{x} = [x y vx vy a1 a2]^T
%
%  h = atan((y-sy) / (x-sx))
%  a = [a1 a2]^T
%  Y = [h;a]
%

% Copyright (C) 2003 Simo S鋜kk