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% Measurement model function for the UNGM-model. % % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer to

% Jacobian of the measurement model function for the UNGM-model. % % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later);

% Hessian of the measurement model function in UNGM-model. % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please

% Azimuth measurement function for EKF/UKF. % % h = atan((y-sy) / (x-sx)) % % Copyright (C) 2003 Simo S鋜kk

% Jacobian of the measurement model function in BOT demo. % % dh_dx = -(y-sy) / (x-sx)^2 * 1 / (1 + (y-sy)^2 / (x-sx)^2) % = -(y-sy) / ((x-sx)^2 + (y-sy)^2) % dh_dy = 1 / (x-sx) * 1 / (1 + (y

% Hessian of the measurement function in BOT-demo. % Copyright (C) 2007 Jouni Hartikainen % % This software is distributed under the GNU General Public % Licence (version 2 or later); please refer t

' {$STAMP BS2} ' ============================================================================== ' ' File...... Ex28 - DS1620.BS2 ' Purpose... Temperature measurement ' Author.... Parallax ' E-ma

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);