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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 程序功能 :采用数据关联算法实现单个匀速运动目标的点迹与航迹的关联
% 输入变量 :
% -target_position: 目标的初始位置 target_position=[1500 500 1500 400];
% - n: 采样次数 50
% - T: 采样间隔 1
% -MC_number:仿真次数 5
%状态方程 : X(n)=A*X(n-1)+G*Q
%观测方程 : Z(n)=C*X(n)+R
% 输出变量 :
% 无
% 作者 : 冯洋
% 日期 : 05-28-2007
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%function PDAF(target_position,n,T,MC_number)
tic
clear all
close all
n=50; %采样次数
T=1; %T为采样间隔
MC_number=5; %monte carlos run times
target_position=[1500 500 1500 400]; %目标的起始位置和速度(km,km/s) (初始状态向量)
Pd=0.95; %检测概率
Pg=0.99; %正确量测落入跟踪门内得概率
g_sigma=9.21; %门限
gamma=7*10^(-6); %每一个单位面积(km^2)内产生2个杂波 ????????(虚假量测的空间密度lamda)
% 程序功能 :采用数据关联算法实现单个匀速运动目标的点迹与航迹的关联
% 输入变量 :
% -target_position: 目标的初始位置 target_position=[1500 500 1500 400];
% - n: 采样次数 50
% - T: 采样间隔 1
% -MC_number:仿真次数 5
%状态方程 : X(n)=A*X(n-1)+G*Q
%观测方程 : Z(n)=C*X(n)+R
% 输出变量 :
% 无
% 作者 : 冯洋
% 日期 : 05-28-2007
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%function PDAF(target_position,n,T,MC_number)
tic
clear all
close all
n=50; %采样次数
T=1; %T为采样间隔
MC_number=5; %monte carlos run times
target_position=[1500 500 1500 400]; %目标的起始位置和速度(km,km/s) (初始状态向量)
Pd=0.95; %检测概率
Pg=0.99; %正确量测落入跟踪门内得概率
g_sigma=9.21; %门限
gamma=7*10^(-6); %每一个单位面积(km^2)内产生2个杂波 ????????(虚假量测的空间密度lamda)
A = [1 T 0 0;0 1 0 0;0 0 1 T;0 0 0 1]; %状态转移矩阵 (F)
C = [1 0 0 0;0 0 1 0]; %观测矩阵
target_delta=100; %目标对应的观测标准差
R=[target_delta^2 0;0 target_delta^2]; %观测协方差矩阵 (Q2)
Q=[4 0;0 4]; %过程噪声协方差 (Q1)
G=[T^2/2 0;T 0;0 T^2/2;0 T]; %系统过程噪声矩阵 (H)
P=[target_delta^2 target_delta^2/T 0 0;target_delta^2/T 2*target_delta^2/T^2 0 0;0 0 target_delta^2 target_delta^2/T;0 0 target_delta^2/T 2*target_delta^2/T^2];
%初始协方差矩阵 %(状态估计误差自相关矩阵)
x_filter=zeros(4,n); %存储目标的各时刻的滤波值 (状态)
x_filter1=zeros(4,n,MC_number); %MC_number次montle carlo仿真所得全部结果存储矩阵
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%产生目标的实际位置
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
data_measurement1=zeros(4,n); %data_measurement1实际位置矩阵 (状态向量)
data_measurement1(:,1)=target_position';
for i=2:n
data_measurement1(:,i)=A*data_measurement1(:,i-1)+G*sqrt(Q)*(randn(2,1)); %实际位置 (目标的实际状态)
end
plot(data_measurement1(1,:),data_measurement1(3,:),'-');
xlabel('x(m)'),ylabel('y(m)');
legend('目标的实际位置',4)
%axis([0 30 1 25])
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%主程序
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
C = [1 0 0 0;0 0 1 0]; %观测矩阵
target_delta=100; %目标对应的观测标准差
R=[target_delta^2 0;0 target_delta^2]; %观测协方差矩阵 (Q2)
Q=[4 0;0 4]; %过程噪声协方差 (Q1)
G=[T^2/2 0;T 0;0 T^2/2;0 T]; %系统过程噪声矩阵 (H)
P=[target_delta^2 target_delta^2/T 0 0;target_delta^2/T 2*target_delta^2/T^2 0 0;0 0 target_delta^2 target_delta^2/T;0 0 target_delta^2/T 2*target_delta^2/T^2];
%初始协方差矩阵 %(状态估计误差自相关矩阵)
x_filter=zeros(4,n); %存储目标的各时刻的滤波值 (状态)
x_filter1=zeros(4,n,MC_number); %MC_number次montle carlo仿真所得全部结果存储矩阵
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%产生目标的实际位置
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
data_measurement1=zeros(4,n); %data_measurement1实际位置矩阵 (状态向量)
data_measurement1(:,1)=target_position';
for i=2:n
data_measurement1(:,i)=A*data_measurement1(:,i-1)+G*sqrt(Q)*(randn(2,1)); %实际位置 (目标的实际状态)
end
plot(data_measurement1(1,:),data_measurement1(3,:),'-');
xlabel('x(m)'),ylabel('y(m)');
legend('目标的实际位置',4)
%axis([0 30 1 25])
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%主程序
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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资源评论
- nuaalyz2014-03-31很好,很实用,注释详细,帮助很大,谢谢
- paopaoyu12192012-12-05作者对代码注释非常详细,很值得学习借鉴,是不错的资源!加上下载所需消耗的积分较少,此资源可谓性价比极高。
- LIANGGEREN19902015-03-12程序挺好用的,值得下载,非常棒哦
- fhxfhx2012-10-12利用概率数据关联算法对目标进行跟踪, 注释很详细,对初学者有一定帮助,谢谢!
- dmucsdn2015-05-12下载了可用,谢谢!!!注释详细。再次感谢!
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