高斯混合PHD滤波器平滑

高斯混合 概率假设滤波器 平滑matlab代码及对应论文，可以直接运行出结果.

%Gaussian Mixture Probability Hypothesis Density Filter
%author:Gao Xiaodong
%data:2008/5/1
clear all
clcclose all
tic;
%===============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
Msample=500;                                                   %粒子数目
x_number=zeros（1N）;
x_number（1）=1;                                                 %目标的初始个数
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=200;                                                     %最大高斯数
c_ospa=5;
p_ospa=2;
F=[1T00
   0100
   001T
   0001];                                                   %存活目标转移矩阵
G=[T^2/20
    T0
    0T^2/2
    0T];                                                      %状态噪声的转移矩阵
%===================目标的真实运动轨迹====================
target_position=TARGET_FORM（FGq_noise）;                      %目标的真实运动轨迹
% target_position.m（2）.s=[zeros（47）target_position.m（2）.s];
% target_position.m（3）.s=[zeros（411）target_position.m（3）.s];
% target_position.m（4）.s=[zeros（419）target_position.m（4）.s];
%====================存活目标初始化=======================
initial.m=target_position.m（1）.s（:1）;                         %目标的初始位置
Q_noise=[q_noise1^20
         0q_noise2^2];
Q=G*diag（[q_noise（1）q_noise（2）]）*G‘;
initial.P=diag（[1 2 1 2]）;                                           %目标的初始协方差矩阵
initial.w=1;
initial.J=1;
%====================新生目标初始化=======================
birth.m（:1）=[0000]‘;                                     %birth对应于目标出现强度函数
birth.m（:2）=[-10000]‘;
birth.P=diag（[5 1 5 1]）;
birth.P=cat（3birth.Pbirth.P）;   
birth.w（1）=0.2;
birth.w（2）=0.2;
birth.J=2;                                                   %新生目标高斯分量数
%======================生成量测报告========================
H=[1000
   0010];                                                   %量测矩阵
r_noise=[0.5;0.5];                                             %量测噪声标准差
R=[r_noise（1）^20
    0r_noise（2）^2];
ps=0.99;                                                       %目标存活概率
pd=0.98;                                                       %目标检测概率
r=3;                                                           %杂波平均数
motocaro_number=10;                                            %蒙特卡罗次数
x_number=zeros（motocaro_numberN）;                             %PHD估计的目标数目
x_number_smooth=zeros（motocaro_numberN）;                      %平滑后 估计的目标数目
dh1=zeros（motocaro_numberN）;
dw1=zeros（motocaro_numberN）;
d_ospa1=zeros（motocaro_numberN）;
dh2=zeros（motocaro_numberN）;
dw2=zeros（motocaro_numberN）;
d_ospa2=z

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2014-08-11 09:33  GM-PHDsmooth\
     文件        8168  2012-06-10 17:08  GM-PHDsmooth\demo.m
     文件         298  2008-04-30 22:25  GM-PHDsmooth\ESTIMATE.m
     文件         395  2008-05-04 13:48  GM-PHDsmooth\GENRANDN.m
     文件         578  2008-05-11 22:00  GM-PHDsmooth\HDISTANCE.m
     文件        2206  2011-07-15 09:15  GM-PHDsmooth\Hungary.m
     文件         249  2008-10-09 16:20  GM-PHDsmooth\IsInMatrix.m
     文件        1222  2008-05-09 10:18  GM-PHDsmooth\MEASUREMENT.m
     文件         437  2010-07-22 08:47  GM-PHDsmooth\Normp.m
     文件         163  2011-07-15 09:10  GM-PHDsmooth\OSPA.m
     文件         459  2008-05-05 10:56  GM-PHDsmooth\PREDIC.m
     文件         394  2008-05-05 11:15  GM-PHDsmooth\PREDIC_S.m
     文件        2028  2012-06-01 15:02  GM-PHDsmooth\PRUN_MERG.m
     文件        1388  2012-06-08 15:31  GM-PHDsmooth\smoothing.m
     文件        1535  2012-06-08 19:56  GM-PHDsmooth\TARGET_FORM.m
     文件        1645  2008-10-09 16:19  GM-PHDsmooth\TryAssign.m
     文件         833  2008-05-30 09:11  GM-PHDsmooth\UPDATA.m
     文件         582  2008-05-11 21:59  GM-PHDsmooth\WDISTANCE.m
     文件         603  2008-10-09 16:15  GM-PHDsmooth\ZeroCover.m
     文件         123  2008-10-09 16:13  GM-PHDsmooth\ZeroNumber.m