Multitarget Bearing Only Tracking by Particle Filter: concatenate_Yclutter(Y , clutter); - File Exchange

Code covered by the BSD License

Highlights from
Multitarget Bearing Only Tracking by Particle Filter

concatenate_Yclutter(Y , clut...
delete_sources(Z , D , ind_D ... Delete sources from the observation given
mexme_mtbot(options) Compile each mex-files of the core functions
mkclutterV(T , LambdaV , V); Make clutter into hyper-cube V with a mean poisson noise process LambdaV.
mkmeasure(X , Xobs , R , ind_... % Generate measurement (bearing and eventually range) given X (state of the M sources over time),
ndmtpf(Z , Xobs , X_ini_part ... % NDMTPF Multiple-Target Particle Filter
obs_mvt(Xobs_ini , Fobs , Gob... Generate maneuverer trajectory
pr_PI0t( mt , LambdaV);
sources_mvt(X_ini , F , G , ... Generate Target trajectories
demo_mtbot.m
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from Multitarget Bearing Only Tracking by Particle Filter by Sebastien PARIS
A demo illustrating Multitarget BO tracking by particle filter

concatenate_Yclutter(Y , clutter);

function Z = concatenate_Yclutter(Y , clutter);

%
%
% Z = concatenate_Yclutter(Y , clutter);
%
% 
%***************************************************************************%%
%  Auteur Sbastien PARIS (sebastien.paris@lsis.org), Septembre 2002                   %
%***************************************************************************%%


[nz , a , M , T]            = size(Y);

[le_clutter , q]            = size(clutter);

le_sources                  = M*T; 

le_Z                        = le_clutter +  M*T;

nz2                         = nz + 2;


Z                           = zeros( le_Z , nz2);

ind                         = zeros(le_Z , 1);   


ind_T1                      = (1 : T)';

ind_M                       = (1 : M);



IT                          = ind_T1(: , ones(1 , M) );

K                           = ind_M(ones(T , 1) , :);

ind(1 : le_clutter)         = clutter(: , 1);

ind(le_clutter + 1 : end)   = IT(:);

[val , indice]              = sort(ind);

Z(: , 1)                    = ind(indice);

tp_z                        = [clutter(: , 2 :end) ; reshape(permute(Y , [4 3 1 2]) , [M*T , nz]) ];

Z(: , 2 : nz2 - 1)          = tp_z(indice , :);

tp_kt                       = [zeros(le_clutter , 1) ;  K(:)];

Z(: , nz2)                  = tp_kt(indice);

Highlights from Multitarget Bearing Only Tracking by Particle Filter

Highlights from
Multitarget Bearing Only Tracking by Particle Filter