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

% SD_unresolved_demo.m 
% 
% demo version for N dimensional assignment with possibly unresolved measurements for 
% tracking multiple targets using multiple sensors 
disp('----------------------------------------------------------------------'); 
disp('% Multiple Target Tracking with Multiple Finite Resolution Sensors'); 
disp('% Sensor resolution model is simplified without radar signal processing '); 
disp('% Each measurement is associated with an indicator for its resolvability '); 
disp('% ----------------------------------------------------------------------'); 
disp('»'); 
disp('»'); 
disp('% First, we show the sensor model for generating measurements.'); 
disp('% Second, we display the sensor-target geometry for tracking two crossing targets.'); 
disp('% Third, we compare the soft assignment using linear program with hard assignement');  
disp('% using Lagrangian relaxation in terms of the percentage of track loss.'); 
disp('% Fourth, we do the filter consistency test using NEES.'); 
disp('% Finally, we use approximate top-M composite-track update for freezing the sufficient'); 
disp('% statistic at the end of the sliding window of the assignment algorithm.'); 
disp('% We compare the results of using a single sensor vs. two sensors'); 
disp('»'); 
disp('»'); 
disp('pause'); 
pause(5); 
 
disp('»'); 
disp('»'); 
disp('% The probability of getting resolved measurements vs.'); 
disp('% the ratio of target separation and cell size in range and bearing'); 
fig1 = plot_res_prob; 
disp('pause'); 
pause(5); 
close(fig1); 
 
disp('»'); 
disp('»'); 
disp('% The stardard deviation of measurement error also depends on the target separation.'); 
disp('% The figure shows'); 
disp('%            unresolved           --- large error'); 
disp('%            partially resolved   --- large error, decreasing in target separation if resolved'); 
disp('%            fully resolved       --- small error'); 
fig2 = plot_sigma_rb; 
disp('pause'); 
pause(5); 
close(fig2); 
 
disp('»'); 
disp('»'); 
disp('% Generate the two crossing target scenario'); 
disp('% We consider tracking these two targets using a single sensor or two sensors'); 
disp('% The target-sensor geometry is important for obtaining better resolution with multiple sensors'); 
numScan = 100; 
start_time = 1; 
time_interval = 2; 
sens1_pos = [0, 0]; 
sens2_pos = [1.8e5, .8e5]; 
target = gene_2d_scn(numScan, start_time, time_interval); 
fig3 = plot_crossing_scn(target, sens1_pos, sens2_pos); 
disp('»'); 
disp('Initial state of target 1: [100e3; 150; 150e3; -10]'); 
disp('Initial state of target 2: [100e3; 150; 148e3; 10]'); 
disp('Sensor 1 position: [0, 0]'); 
disp('Sensor 2 position: [1.8e5, .8e5]'); 
disp('pause'); 
pause(5); 
close(fig3); 
 
disp('»'); 
disp('»'); 
disp('% Display the measurements of the two crossing target scenario'); 
measurement = gene_2d_2sen(target); 
fig4 = plot_scn(target, measurement); 
disp('pause'); 
pause(5); 
close(fig4); 
 
disp('»'); 
disp('»'); 
disp('% Interactive display of tracking the two crossing targets using measurements from both sensors'); 
disp('% 2-D hard assignment using auction algorithm'); 
disp('%       blue dot   --- true target states'); 
disp('%       green dot  --- estimates'); 
disp('%       cyan star  --- resolved measurements, including FAs'); 
disp('%       black star --- unresolved measurements'); 
fig5 = plot_2d_kf1(target, measurement); 
pause(5); 
close(fig5); 
 
disp('»'); 
disp('»'); 
disp('% Interactive display of tracking the two crossing targets using measurements from both sensors'); 
disp('% 2-D soft assignment using LP and PDAF'); 
disp('%       blue dot   --- true target states'); 
disp('%       green dot  --- estimates'); 
disp('%       cyan star  --- resolved measurements, including FAs'); 
disp('%       black star --- unresolved measurements'); 
fig6 = plot_2d_pda1(target, measurement); 
pause(5); 
close(fig6); 
 
disp('»'); 
disp('»'); 
disp('% Interactive display of tracking the two crossing targets using measurements from both sensors'); 
disp('% 3-D hard assignment using Lagrangian relaxation algorithm'); 
disp('%       blue dot   --- true target states'); 
disp('%       green dot  --- estimates'); 
disp('%       cyan star  --- resolved measurements, including FAs'); 
disp('%       black star --- unresolved measurements'); 
fig7 = plot_3d_kf1(target, measurement); 
pause(5); 
close(fig7); 
 
disp('»'); 
disp('»'); 
disp('% Interactive display of tracking the two crossing targets using measurements from both sensors'); 
disp('% 3-D soft assignment using using LP and PDAF'); 
disp('%       blue dot   --- true target states'); 
disp('%       green dot  --- estimates'); 
disp('%       cyan star  --- resolved measurements, including FAs'); 
disp('%       black star --- unresolved measurements'); 
fig8 = plot_3d_pda1(target, measurement); 
pause(5); 
close(fig8); 
 
% call a new (demo) file for MC runs 
unresolved_demo1;