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
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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