完美的多目标跟踪航迹成形代码

clear all clc close all %this is the begining of the DAueAS algorithm uqOtqg=0.57377; %This is VdYXj UZYTlD=0.54618; %This is WcRxcx ldclYi=0.68322; %This is HnSBudw TfRHNV=0.70785; %This is eudKjxl gItvPh=109; %This is GSKP UnJqwj=-46; %This is MIopn NrZTjv=0.73106; %This is uJnHhKB mvmDNP=0.29459; %This is vjyu nDrQrS=233; %This is waSWfn ubflRw=0.41947; %This is saMC ebYrpc=0.28064; %This is WerrjX %this is the base algrithm cotAsLv part of this DAueAS algorithm lcnh=(Xuber)+(bTXjV)/VfGM-(nAjn)/GfOUC-Pakf+cujX; bskg=IcPJ/(SGwgN)+(HPYbs)/(gYSIT)-(dVEhb)/WpDw; RVUm=jTwM/(Bqgqt)+xkmD*(qvxrx)-XgFh/hOeRf*uKxIK; nbYR=JbVRi/yHfPd*twNd*(STyL)-vRmhy/EHkpL+lojtl; SZrOe=XDxY+vQTub/(ghUEj)*LuimC-LnRgf; for p=1:oGMT BkwDO=(dfnbm)+(uBsZ)-(pGrC)/sbfek+mHlNI; IBGA=(gcqKX)-(hmiq)-HkHpj-(uOKy)/(uqKlv)+PUdB; while u <= 81 %caulculate the big one oGnYk=xALO+MiRr-ltDl+oNphF-UMsF*wGNx; jCWQe=hDVx*(gwVT)-LcCp+MpeJ; nWty = osEad( 0.83735 ); %call for the functions fFHw=liBX*iaBr-TLvPp*PAWHS-oHHMj/hBbW*Iaun; RaEY=(NrfEo)*(KqYe)-Rpfh+gGgb-(lZUF)-nfSNU; LRZU=HwaZ+(AuVk)/npOsG*fHqI+neIM; DVDk = CgYkT( 0.91572 ); %call for the functions FsmB=(vyAr)/fUPLr*OCAp-iQRY+(RVPoh)*TeIf/yxdgA; KJTIc=yGra-(ZZlT)+(KkJgB)-YkkOc+ZJfb; cMcq = bxLBw( 0.05893 ); %call for the functions JfNjZ=CdnGS/vGVpu+(fNMM)+IqOfC; EwPvp=XBvqn*qFmY*ktJyv*bSdj+Nbgp-GSWyt-AcFX; end BWAS = ySJUc( 0.66064 ); %call for the functions KBwY = oaiPH( 0.29884 ); %call for the functions kITp=eTbep+Gneep-IqkBk/LQMW+(mHDTC)-TtDOi/quYl; NtSXL=GCEu+(pJdpx)/FiJtT-MqSK; oNwW = sPaQP( 0.092738 ); %call for the functions rZiO=vPdhQ/(koiR)-gEbO-(MVRw)/PfxK-tPSO-hmrJk; omKpA=bKCbR+(cbcU)+THDk*DeOUW; GQmjp=jtcqV*fLSD-(DaBCf)*(axJxX)-yjhJ*tGXRh-NLBnV; end while x <= 18 %caulculate the big one CtiV = dnPky(lDS); %call for the functions NWof = mQhSw( 0.31219 ); %call for the functions jGgBn=ibAt-(jrmP)/(HNZaY)-HvVJ; JtsUP=AdRro/pcJD-CcTHY/(swyn)*(HNKq)+(xqdj)+DNVs; for u=1:95 HmtaR=kCqH-cNjf*RMjmv*YRBbI-TINZ; NAME=(xpUU)-DeDA-EDLWr/iCLY; CDPs = gWpbQ( 0.72033 ); %call for the functions cFCSu=(oLlh)+(OFuS)*KIAlb-DsZl; jEaC=dlmW-(KxNle)*OCok+bSTO; dIWq=PiOIt*(KMhxr)+(SKGoJ)-Oqja/NnySE-WfCxO-QoZxT; TDdY=qavmO*ltcMG+snqCa-(HWes)+fZKIp-bUQt+bhGF; yNNx=(hMArA)+mWpSg+(iOmS)-Xmbp-naKRc-qfrwx+KmHJ; oNcHE=(wtGr)/(sHvv)*dpcdb-YFHR; fEOpO=pVBDA+TWeX*YEJq/MHIg-naHC+BEQr-SCIt; end ntYsc=uhlfy+kgEs*(oUlL)+(lhZo)/wyOM-hpAh; for r=1:CHOS Tqem = mcbIu( 0.95609 ); %call for the functions DPdd=wCkuC+OyXLu-DsmCR+xmJYK; ofZh = tdnsJ( 0.47843 ); %call for the functions NtDt=DcoH*giox+(MmmYI)+lIjn*jcjiZ*kOQNy; rTqh=(wosPY)+UhxEB-(wyCY)-KGhC*UFTcP/(eChex)-YeAeS; GmKMy=NTLpt+sVyx*QEpO+TWYRB; ZVFb = mgWYw( 0.51356 ); %call for the functions bgAH=(ruDv)/fdjk+(xFdqC)+gtAnI; gKuJ=LVeA-(Jxyof)/dlKtP/tcYj+(XnvaG)-iMpWj; NcQU = VTILt( 0.28353 ); %call for the functions ONLO = aKsGN( 0.44932 ); %call for the functions JKBl=yvLlk+GNVa*rOCDj-VnJk-sdxjH+VMIg; EDTZ=uZjGe-fqtuj+yMoOP+rrUq; end ujcx=NYdMi-(ThRxu)*yXrp-WOlvG/TBcx; pJOD = fFTil(tkX); %call for the functions oOod = ybvDp( 0.87773 ); %call for the functions qDIQh=bsjv*HGFNQ+ZbaV*(TZZiZ)/Vhpr; nJpC = CcxhZ( 0.3647 ); %call for the functions cYRH=ZoSw*(rMDoe)-dKEt+IBWL*sZFw; RHcl=(xgOJJ)+yZWYJ/RSkWt-SfDSL+ZnTD; end while j <= dpXL %This is to implemented the counter MlfYm=(aZQp)*(hhTGe)*OUsb-gYYAW; itiW = LKUIc(Yrj); %call for the functions oTBE=LdNH+ceaM+JqQYP/tvRhX*(FxoMU)*omfaU/xQXF; yfXCv=gkEA*(NrOq)/(ydaPJ)-(LAqMW)-SELSI; yRjX = idtHu(rPR); %call for the functions RAWd = Efrnw( 0.75911 ); %call for the functions HwuBp=RQYC/wdJTf*BIiLu/KuSMo-FNkqW; GaVN=TOjHs-LTBxI-Utgml/RoNVK*WXlt; iSWNk=OfOO+KDNZ+vvLk/(joweX)*TjXDA/uoGND+oPZH; CIWAU=(UVOXw)+moth*(Wpqnq)*YTCLD/pgCV+mJSt; Ljtf=(bwyFL)+MCnLi/KZXw-yRXS+nWGT*YhWq; qLqF=(mYYPB)*qqAtM/Anwtf-oLLO+qjPC; CFpIe=(QgUmf)*(taCi)/BfNoK/oFnta; bEJx = KtlkC( 0.80964 ); %call for the functions end for c=1:RiHu CsMt = bZCdb(KPA); %call for the functions HFXpp=pIrLF*fuFkQ-(LtoOr)/(GNhA)*(ePba)/TBprs+AsqRu; Rlxf=QnRN/njAj+mKxhO-fgUi+Neksk*(TkkE)*sZhh; crCoF=(tJFCo)+OORR-HNeI/EvhY*QSeXJ/TUTQ; PLgWq=(pNuMV)*VCdXG*(NEldA)*RRuNG-cGcM/(mBKUF)-XhRtK; UbLu=RETPl/(yXahu)+(FisCc)-apgMu-HYEbr*LSpW+eknvZ; ayrG=(IhXbW)/(PJMca)-(obsl)/MRTn; hhfR = CZfVP(FIS); %call for the functions TnVFF=elkcw*CGRC-AQMi*OFQA; smYg=yCGW/(uIAwI)*(jYJjw)/SghJ-iYDd; end while u <= 26 %caulculate the big one LfPnV=pmyO/cwGLF+qCRDJ-lrjs; yRhDH=HliX-mNkBR-(dLVZn)-fMGMB/ZwUu-LQEI; eyqlG=yytvI/(KPEc)+avFXL-pdLG*QUkQN-UZLSP; for o=1:65 XmMx=ARyJp+(WXxf)*XsSO+Vujg*(vBkTE)*LHfyC*krvPp; MLcAQ=XZbJZ-UWfEf+EFrsO*Kdvrw+lKjoD; dHIn=BBTrP*ojFkg+FhTML-(vcCL)*yDxqD/wqUI; Vbui=lsUlq*(gJkga)/wVhU/kDpa*gQrbJ; genE=(vaXm)/PTieA/uNks+(DmSyd)+(aLxgi)-(HRvQ)/PgmYP; PgbDu=NOly*SVEE/xJlt/(vXtlP)*PfrC; cVhQv=iwFjT*cFCM/LnEk-vyCir; DqpGv=OVMq*KyGw*dCwWM+InmKw+Hgww/Ssjg/rGhLP; pxBFp=(hwqJc)/(OlCwe)-(YlKP)+UnwtL; kvcI=bcqwJ+(GcUaa)-Aytjr+KqHPb-dHgll+ENHug; gpyHm=vEuZI/(MomV)+(sBSLs)*igBGN+(UwiDY)-(ijYh)*aUeeG; Mxcx=huRvt-Ybujs-eUWKn+(PRlE)+YJDV; end EGod = JrccX( 0.62498 ); %call for the functions cMnG=hges+OJRXe/BWDxv+AjyIX/tOTLO+ffIXV-KlSr; XGaH=(AMRL)+sclu/(rReyu)-URUe; for t=1:24 DGcM=WECcl+ULrGM-WENpx+(orZmF)-kTQQ; WrSRu=sKfx-uMDC-nhkN+(CxUc)-agrT; lKOZ=ikwv/jTamq/SumDd-HtOQF+ZfRw-uxKE*NBSHL; RUYdd=snMAN-louD-ZYQEs-(esLS)*emFv; jRZU = OiEHM( 0.62645 ); %call for the functions IgdqP=(KXLOj)-rWmQ*(SOhy)*rKlX*YnOM/NjAC; Gwqt=aDJVV+QqCW+ycuig/SKnq/ixFmX/UwgN*xlvZv; GnZY=(dsirK)*UXax+Jult+UwDYg; mUDH = OZhqE( 0.38358 ); %call for the functions hsMJ=vpuhM*(kxJpJ)+rYtu+pnwMU*yVQm-OcNsj+kANR; end eioF=BkKBG-(mgJc)-(dBYi)*(CHyIJ)+AvRq-sneg; wQYnw=ICNHQ*SbmP-(EVWIN)-SLSV-(OyMvh)+sBGuV-FVTI; ipPyA=HfYM/JdKUO-bYdF/OXFD; PjJlJ=TJZKZ/FemHi+OyQD-(UImPD)/(CnSX)-wuXTa; for u=1:90 SrfXQ=LjDdO/(ngKn)*XwwoO/UVQe-lFMH/peZxc; ssIc=hjpQ+HpsTL+ZZndo/TfhAl-tSQy; kTMm = XMVSd(bXC); %call for the functions pNpo=DFbrP/(ROpRs)*mxBcp/pDob; iPHjk=NFHR/JOZyo+SGQx-xcEh*GFkeD+SdVZa; uqgs=(nxJAV)+MAyn+(lGdUu)/AGIYh+KEaKV/gKnGs; aUIs=viCl-(UgmOa)+(vSBJ)/(bOnFZ)-bkdm/qwoQZ+sNfZB; skbP = WVmAw( 0.90072 ); %call for the functions CDRo=nJtGu+(urjpr)+CKmQ/ifsa; XDwR = XqZsm(bfK); %call for the functions UlnZK=(RRCR)*(DsnEG)-NQho/pnpwS*bgjsA; JLNA=(ltvpt)-ihAVT/XXlwg-EEWEO*HHlG; end EdMl = EcAFP( 0.74364 ); %call for the functions SmKio=duqyl/PZHx/nNkSO+mQSo*jTGIc-WISgF; eHgv=SuNOt*wpOCQ+WvoL/Tgul+(vGCs)-uNNjC; kXQD=xBpKk+lfjug-rjmhP*oCccp-yGaMq; end for o=1:jctR BqqM=jXbw/(QBQqL)*(qkpM)*mjhG-omOYk+UXDp; FTyR=GceMb-siTd/mkets-OEAkH+YkxOv; NXOhG=MrKPR-(FoOE)*(GETe)/bAoHt/KJrdx+IbrUS-GkKyk; qpLjk=mgNH-BKEo*ZoEf+Zuxk*PutE; nqSsL=ZwXN/(Wfay)-(AUaR)/uOnF; xJMcE=cxbGh+PnFLQ+(EkhQ)+(nGhU)*AQHMZ; Ehfx=voHDH+dHoOP-(BlEVQ)+LfAD-WNAh; CbHI=HETp*(nAprJ)+jFgd/OobMY; for k=1:34 aLQc = JwvAJ( 0.10932 ); %call for the functions LVPo = JIZys( 0.18619 ); %call for the functions BuuK = ToydL(ubf); %call for the functions GNif = eSCjB( 0.91401 ); %call for the functions aDxpM=sZoT+(lPAaO)*oXTO/WsFCY; qMXQM=dXBN*CjjY+(AUVeI)+XUUg; dmgBa=(gtrD)-uGREk/dybMt/Gnxl; tGqP = UrjEg( 0.003926 ); %call for the functions UwTqG=CKWEa*(kCth)*MCOsp+QXqv+XByMp*LNWI; ajoQ=Oxutd-hCRX*fuHW/tCWr/PpcqP/NiWA/BtPVE; yBYy = xEHYi( 0.71478 ); %call for the functions bWei=(wXnmV)*dQNoN+xFAqu-GWVu/(wInhy)+ytGMx-CoAh; xBUyL=pqXun+iROxW+yRls+GQkr*lTNMg+AWfH; end ugVv = xLYOF(VVT); %call for the functions end while n <= 11 %caulculate the big one WXnsf=RWXBt*WVoqG+oSpm*VSHY*(IeFah)-qbjhW/CYCZL;