联合概率数据关联算法（JPDA）

联合概率数据关联算法，适合研究目标跟踪，附带算法分析。

%function  JPDAF（target_positionnTMC_numberc）
clc;
clear all;
close all;

n=100;                                                                             % 采样次数
T=1;                                                                                 % T为采样间隔
MC_number=10;                                                              % Monte Carlo仿真次数
c=2;                                                                                 % 目标个数
target_position=[1500 300 500 400 1000 500; 500 400 1500 300 1000 500];    %目标的起始位置和速度（mm/s）        
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 程序功能  :采用JPDA数据关联算法实现两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
%           - n:  采样次数 
%           - T:  采样间隔
%           -MC_number:仿真次数
%           - c:  目标个数
% 输出变量  :
%           无
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%  参数定义  %%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%
Pd=1;                                                                  %检测概率
Pg=0.99;                                                              %正确量测落入跟踪门内得概率
g_sigma=100;                                                     %门限
lambda=2;                                                           %杂波密度5  10
gamma=lambda*10^（-6）;                                    %每一个单位面积（km^2）内产生lambda个杂波
Target_measurement=zeros（c3n）;                      %目标观测互联存储矩阵
target_delta=[100 100];                                        %目标对应的观测标准差   [10 10]                 
P=zeros（66c）;                                                     %协方差矩阵
P1=[target_delta（1）^2 0 0 0 0 0;0 0.01 0 0 0 0;
       0 0 target_delta（1）^2 0 0 0;0 0 0 0.01 0 0;
       0 0 0 0 target_delta（1）^2 0;0 0 0 0 0 0.01];                %初始协方差矩阵 
P（::1）=P1;
P（::2）=P1;
A = [1 T 0 0 0 0;0 1 0 0 0 0;0 0 1 T 0 0;0 0 0 1 0 0;0 0 0 0 1 T;0 0 0 0 0 1];                      %状态转移矩阵
C = [1 0 0 0 0 0;0 0 1 0 0 0;0 0 0 0 1 0];                                            %观测矩阵
R=[target_delta（1）^2 0 0;0 target_delta（1）^2 0;0 0 target_delta（1）^2];         %观测协方差矩阵
Q=[4 0 0;0 4 0;0 0 4];                                                         %系统过程噪声协方差
G=[T^2/2 0 0;T 0 0;0 T^2/2 0;0 T 0;0 0 T^2/2;0 0 T];                                %过程噪声矩阵
x_filter=zeros（6cn）;                                             %存储目标的各时刻的滤波值
x_filter1=zeros（6cnMC_number）;                       %MC_number次Montle Carlo仿真所得全部结果存储矩阵
data_measurement=zeros（c3n）;                         %观测存储矩阵
data_measurement1=zeros（c6n）;                       %实际位置坐标xy矩阵   

%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%  产生目标的实际位置  %%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%
data_measurement1（::1）=target_position;          %实际位置矩阵初始化 
for i=1:c
    for ii=2:n                                                         %实际位置 
        data_measurement1（i:ii）=（A*data_measurement1（i:ii-1）‘）‘+（G*sqrt（Q）*（randn（31）））‘;        
  

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     文件       18193  2013-07-15 21:27  JPDA算法及分析\JPDA_sanwei.m
     文件      124928  2014-10-27 11:13  JPDA算法及分析\JPDA算法分析.doc