PHD 用PHD滤波的方法实现多目标跟踪

用PHD滤波的方法实现多目标跟踪，及对PHD滤波性能的检测。

clear all;
clc;
close all;
%===============初始参数设定===============
T=1;                                                           %采样时间间隔
N=40;                                                          %测量时间
M_number=1;                                                    %程序运行次数
number_PHD=zeros（1N）;
q_noise1=0.5;                                                  %状态噪声方差
q_noise2=0.1;                                                  %状态噪声方差
q_noise=[q_noise1;q_noise2];
T_prun=1e-5;                                                   %修剪门限
U_merg=4;                                                      %合并门限
J_max=100;                                                     %最大高斯数
N_max=20;                                                      %最大目标数
c_ospa=70;                           

 属性            大小     日期    时间   名称
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     文件       4683  2013-09-06 20:49  PHD\demo.asv

     文件       4712  2013-09-06 21:00  PHD\demo.m

     文件        395  2013-04-19 15:51  PHD\GENRANDN.m

     文件        578  2013-04-19 15:51  PHD\HDISTANCE.m

     文件       2159  2013-04-19 15:51  PHD\Hungary.m

     文件        249  2013-04-19 15:51  PHD\IsInMatrix.m

     文件       1308  2013-09-06 20:25  PHD\MEASUREMENT.m

     文件        460  2013-04-19 15:51  PHD\Normp.m

     文件        152  2013-09-06 20:38  PHD\OSPA.m

     文件        307  2013-09-06 20:36  PHD\PHD_ESTIMATE.m

     文件        471  2013-09-06 20:29  PHD\PREDIC.m

     文件        407  2013-09-06 20:30  PHD\PREDIC_S.m

     文件       2022  2013-09-06 20:34  PHD\PRUN_MERG.m

     文件       1595  2013-09-06 20:21  PHD\TARGET_FORM.m

     文件       1645  2013-04-19 15:51  PHD\TryAssign.m

     文件        825  2013-09-06 20:32  PHD\UPDATA.m

     文件        844  2013-04-23 21:39  PHD\UPDATA_PHD.m

     文件        582  2013-04-19 15:51  PHD\WDISTANCE.m

     文件        603  2013-04-19 15:51  PHD\ZeroCover.m

     文件        123  2013-04-19 15:51  PHD\ZeroNumber.m

     文件       1320  2013-09-06 21:22  PHD\MEASUREMENT.asv

     目录          0  2013-09-06 21:02  PHD

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