Matlab目标运动模型建模

%% 2D-CT Model clc;clear all; close all; %% Initialization N=100; % Sampling Times T=1; % Sampling Interval G=[T^2/2 0;0 T^2/2;T 0;0 T]; % Disturbance matrix w=[1e-4;1e-4]; % System noise matrix Target_num=2; omega1=0.8*pi/180; omega2=-0.5*pi/180; F1=[1 0 sin(omega1*T)/omega1 (cos(omega1*T)-1)/omega1;0 1 (1-cos(omega1*T))/omega1 sin(omega1*T)/omega1;0 0 cos(omega1*T) -sin(omega1*T);0 0 sin(omega1*T) cos(omega1*T)]; % State transition matrix F2=[1 0 sin(omega2*T)/omega2 (cos(omega2*T)-1)/omega2;0 1 (1-cos(omega2*T))/omega2 sin(omega2*T)/omega2;0 0 cos(omega2*T) -sin(omega2*T);0 0 sin(omega2*T) cos(omega2*T)]; % State transition matrix X1(:,1)=[100,10,6,5]'; X2(:,1)=[10,800,5,-8]'; Marker={'ro-','bd-'}; %% Target State for j=1:Target_num X=eval(['X' num2str(j) ,';']); F=eval(['F' num2str(j) ,';']); [X]=Target_State(X,N,F,G,w); eval(['X' num2str(j) '=' 'X' , ';']); clear X; end %% Figure % Track figure; hold on for j=1:Target_num X=eval(['X' num2str(j) ,';']); plot(X(1,:),X(2,:),Marker{j},'Markerindices',1:5:N,'linewidth',1) text(X(1,1)+10,X(2,1)+10,'S') text(X(1,N)+10,X(2,N)+10,'E') legend_str{j}=['目标' num2str(j) ]; clear X; end hold off legend('Target-1','Target-2','Location','Northeast') xlabel('x axis(m)') ylabel('y axis(m)') grid on box on xlim([-100,400]) ylim([-200,900])