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    发布日期: 2023-10-31
  • 语言: Matlab
  • 标签: PHD滤波器  

资源简介

高斯混合概率假设密度滤波器用于扩展目标跟踪matlab代码及对应论文

资源截图

代码片段和文件信息

function [w_km_kP_kJ_k] = extendedTargetPHDfilter(w_k1m_k1P_k1J_k1ZkF_k1Q_k1H_kR_k)

% Probabilities of survival and detection
global p_S_k p_D_k
% The spontaneous birth distributions
global w_gam_k m_gam_k P_gam_k J_gam_k
% The spawn distributions
global w_beta_k d_beta_k F_beta_k1 Q_beta_k1 J_beta_k
% Expected number of measurements
global beta_D

% Allocate some memory
w_kk1 = zeros(1J_gam_k+J_beta_k*J_k1+J_k1);
m_kk1 = zeros(size(m_k11)J_gam_k+J_beta_k*J_k1+J_k1);
P_kk1 = zeros(size(P_k11)size(P_k12)J_gam_k+J_beta_k*J_k1+J_k1);

nu_kk1 = zeros(size(H_k1)J_gam_k+J_beta_k*J_k1+J_k1);
S_k = zeros(size(R_k1)size(R_k2)J_gam_k+J_beta_k*J_k1+J_k1);
K_k = zeros(size(P_kk11)size(S_k2)J_gam_k+J_beta_k*J_k1+J_k1);
P_kk = zeros(size(P_kk11)size(P_kk12)J_gam_k+J_beta_k*J_k1+J_k1);

nZk = size(Zk2);
w_k = zeros(1(nZk+1)*(J_gam_k+J_beta_k*J_k1+J_k1));
m_k = zeros(size(m_kk11)(nZk+1)*(J_gam_k+J_beta_k*J_k1+J_k1));
P_k = zeros(size(P_kk11)size(P_kk12)(nZk+1)*(J_gam_k+J_beta_k*J_k1+J_k1));

gam = zeros(1J_gam_k+J_beta_k*J_k1+J_k1);

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Step 1: Prediction for birth targets spontaneous birth and spawn.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
i = 0;
for j = 1:J_gam_k
    i = i+1;
    w_kk1(1i) = w_gam_k(1j);
    m_kk1(:i) = m_gam_k(:j);
    P_kk1(::i) = P_gam_k(::j);
end

for j = 1:J_beta_k
    for l = 1:J_k1
        i = i+1;
        w_kk1(1i) = w_k1(1l)*w_beta_k(1j);
        m_kk1(:i) = d_beta_k(:j) + F_beta_k1(::j)*m_k1(:l);
        P_kk1(::i) = Q_beta_k1(::j) + F_beta_k1(::j)*P_k1(::l)*F_beta_k1(::j)‘;
    end
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Step 2: Prediction for existing targets
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for j = 1:J_k1
    i = i+1;
    w_kk1(1i) = p_S_k*w_k1(1j);
    m_kk1(:i) = F_k1*m_k1(:j);
    P_kk1(::i) = Q_k1 + F_k1*P_k1(::j)*F_k1‘;
end
J_kk1 = i;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Step 3: Construction of PHD update components
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for j = 1:J_kk1
    % Expected number of measurements
    gam(j) = beta_D;
    nu_kk1(:j) = H_k*m_kk1(:j);
    S_k(::j) = R_k + H_k*P_kk1(::j)*H_k‘;
    H_k_invS_k = H_k‘/S_k(::j); % instead of H_k‘*inv(S_k(::j))
    K_k(::j) = P_kk1(::j)*H_k_invS_k;
    P_kk(::j) = (eye(size(P_kk1(::j)))-K_k(::j)*H_k)*P_kk1(::j);
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Step 4: Update
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for j = 1:J_kk1
    w_k(1j) = (1-(1-exp(-gam(j)))*p_D_k)*w_kk1(1j);
    m_k(:j) = m_kk1(:j);
    P_k(::j) = P_kk1(::j);
end
% l is an index

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2014-05-09 21:12  A Gaussian Mixture PHD filter for Extended Target Tracking\
     文件      483612  2014-04-17 11:37  A Gaussian Mixture PHD filter for Extended Target Tracking\3046.pdf
     文件     1198355  2014-04-17 15:36  A Gaussian Mixture PHD filter for Extended Target Tracking\A Gaussian Mixture PHD filter for extended target tracking.pdf
     文件        6073  2010-05-19 00:44  A Gaussian Mixture PHD filter for Extended Target Tracking\extendedTargetPHDfilter.m
     文件        5473  2010-05-19 00:48  A Gaussian Mixture PHD filter for Extended Target Tracking\extendedTargetTrackingPHD.m
     文件        6965  2010-05-19 00:37  A Gaussian Mixture PHD filter for Extended Target Tracking\extendedTargetTrackingPHD_mulitpleTargets.m
     文件         488  2010-03-08 23:07  A Gaussian Mixture PHD filter for Extended Target Tracking\generateClutter.m
     文件         911  2010-03-09 17:49  A Gaussian Mixture PHD filter for Extended Target Tracking\generateExtendedMeasurements.m
     文件      690065  2014-04-17 10:56  A Gaussian Mixture PHD filter for Extended Target Tracking\GranstromLO2010_FUSION_ETGMPHD.pdf
     文件        1113  2010-05-19 00:42  A Gaussian Mixture PHD filter for Extended Target Tracking\initParameters_project.m
     文件        4709  2010-05-19 00:45  A Gaussian Mixture PHD filter for Extended Target Tracking\partitionMeasurementSet_4.m
     文件        3715  2010-05-19 00:45  A Gaussian Mixture PHD filter for Extended Target Tracking\phdFilter.m
     文件        1036  2010-05-19 00:46  A Gaussian Mixture PHD filter for Extended Target Tracking\phdPruning.m
     文件         266  2010-05-19 00:46  A Gaussian Mixture PHD filter for Extended Target Tracking\phdStateExtraction.m
     文件         951  2010-05-19 00:29  A Gaussian Mixture PHD filter for Extended Target Tracking\plotPHDsurface.m
     文件         760  2010-05-24 19:39  A Gaussian Mixture PHD filter for Extended Target Tracking\README.txt
     文件         245  2010-05-19 00:27  A Gaussian Mixture PHD filter for Extended Target Tracking\Sigmacircle.m

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