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k=3; t=0.5; mes_start=[0 0]'; a0=[1 1 1 1 1 1]'; p0=eye(6); mes_total=5; measurement=[1 2 3 4 5;1 2 3 4 5]; vmin=0; vmax=10; r=eye(2); yz1=2.5;

%用于航迹起始测试程序(模拟产生用于航迹起始的多目标量测信息) model_try; M=7; vmin=0; vmax=50; measurement=[]; mes_total=[]; u1=[-100 -400]';%跟踪空间左下顶点 u2=[400 300]';%跟踪空间右上顶点 arg=0.0002*(500*700);%跟踪空间内期望虚警数目 targe

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 (

//: c04:InitialValues.java // Shows default initial values. // {NoAutomaticTesting} class Measurement { boolean t; char c; byte b; short s; int i; long l; float f; double

% gene_2d_2sen.m % % generate the measurements for a 2-D scenario of two closely spaced targets with % two asynchronous sensors function measurement = gene_2d_2sen(target) % define SNR SNRdb

% gene_2d_sen2.m % % generate the measurements for a 2-D scenario of two closely spaced targets with % sensor 2 function measurement = gene_2d_sen2(target) % define SNR SNRdb = 10; SNR = 10^

% gene_2d_sen1.m % % generate the measurements for a 2-D scenario of two closely spaced targets with % sensor 1 function measurement = gene_2d_sen1(target) % define SNR SNRdb = 10; SNR = 10^

% function assi = find_assi_index(assign, n) % % assign ----- assignment vector indicating which measurement goes to which track % assign(j) = k means the j-th measurement goes to tr

function fig = plot_scn(target, measurement) numScans = length(target(1).time); % plot the ground truth and the measurements fig = figure; hold on; ny = length(target); for j=1:ny p0 =

function [y] = ukf_bshfun(x,u,n,t); % PURPOSE : Measurement model function for UKF % INPUTS : - x: The evaluation point in the domain. % : - u: exogenous inputs % : - n: measureme