www.pudn.com > trackingdemos.zip > LLR_Gau_PDA2.m

% log-likelihood function for toy problem toy_GauPDA.m 
 
function LLR = LLR_Gau_PDA2(theta, Z, sigma, lambda, Pd, Pg) 
N = length(Z); 
A = 10; 
LLR = 0; 
for i=1:N 
    M = length(Z(i).Z); 
    if M<1 
        LLR = LLR + log(1-Pd*Pg); 
     else 
        C = 1-Pd*Pg+M/2/A/lambda*Pd*Pg; 
        exp_terms = sum(exp(-(Z(i).Z-theta).^2./2./sigma^2)); 
        LLR = LLR + log(1-Pd*Pg+Pd*Pg/lambda/sqrt(2*pi)/sigma*exp_terms)-log(C); 
    end 
end 
 
% use negative sign for minimization 
LLR = -LLR;