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function [x,P]= observe_heading(x,P, phi, useheading) %function [x,P]= observe_heading(x,P, phi, useheading) % % Perform state update for a given heading measurement, phi, % with fixed measurement

%MESG Display progress information. % MESG subroutine displays progress status when performing MIMO system % performance measurement. Therefore it makes no sense to run this % routine alone.

k=3; t=0.5; %mes_start=[10 10 10]'; a0=[100 10 0.1 2 0 0 0 0 0]'; p0=eye(9); mes_total=5; measurement=[1 1 1;2 2 2;15 15 15;20 20 20;5 5 5]'; %vmin=0; %vmax=50; r=eye(3); yz2=100000;

function [measurement,mes_total]=f_receive_mes(kkdk) % temp=k; % load('D:\work\多目标跟踪(三维)\data.txt');%just for test % load all_mes_total;%just for test % %k=temp; % mes_total=all_mes_total(kkk

function [x_rt,p_rt,d_rt]=f_get_xp(M,t,matrix,a,p,mes_total,measurement,r) x_rt=[]; p_rt=[]; d_rt=0;%该假设整个统计距离 temp1=zeros(3,3); for k=1:M index=sum(mes_total(1:k-1))+matrix(k);

function [new_target_total,x_init,p_init,asso_mes]=f_initiate_tracks(M,dm,measurement,mes_total,vmin,vmax,r,t,yz1,yz2,yz3,yz4) %一步延迟航迹起始 %M:用于航迹起始的扫描周期数 %measurement:所有量测(按列) %mes_total:各个时刻的量测个数

function [b1,cost,a,p]=f_extend(r,k,t,a0,p0,mes_index,mes_start,mes_total1,measurement,yz4); h0=[1 k*t (k*t)^2/2 0 0 0 0 0 0;0 0 0 1 k*t (k*t)^2/2 0 0 0;0 0 0 0 0 0 1 k*t (k*t)^2/2]; h1=[1 (k+1)*t (

k=3; t=0.5; mes_start=[10 10 10]'; a0=[100 10 0.1 2 0 0 0 0 0]'; p0=eye(9); mes_total=5; measurement=[1 1 1;2 2 2;15 15 15;20 20 20;5 5 5]'; vmin=0; vmax=50; r=eye(3); yz1=100;

[confirm_matrix,confirm_meas,confirm_meas_total]=function f_confirm_measure(c,cl_element_total,cl_matrix,measurement,mes_total,u);%该函数用于确定该聚中所有量测 %确认聚中所有量测以及形成该聚的确认矩阵 temp1=[]; temp2=zeros(mes_tota

function[miss_detect_flag,mes_flag,confirm_matrix,confirm_meas,confirm_meas_total]=f_confirm_measure2(cl_element_total,measurement,mes_total,u);%该函数用于确定该聚中所有量测 %确认聚中所有量测以及形成该聚的确认矩阵 miss_detect_flag=