www.pudn.com > un_PDAF.zip > Structure_PDAF_Init_Track.m

function TrackList = Structure_PDAF_Init_Track(Par) 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% Structure_PDAF_Init_Track - initializes the Kalman filter 
% matrix with respect to dimensions and other track related data 
% Input: 
%  Par           - parameters for to intialization 
% Output: 
%   TrackList    - kalman structure list and more 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
% default 
% all the parameters must be defined in Par structure 
 
% tracker structure 
[F,H,Q,R,ObservInd,initx,initP] = Kalman_Filter_Init(Par.dT,Par.ModelDim,Par.ProbDim,Par.StateVar,Par.ObserVar); 
TrackObj.F          = F; 
TrackObj.H          = H; 
TrackObj.Q          = Q; 
TrackObj.R          = R; 
TrackObj.ObservInd  = ObservInd; 
 
% initial location and variance 
TrackObj.x          = initx; 
TrackObj.P          = initP; 
 
% intialization state 
TrackObj.State      = Par.State_FisrtInit;   
% life time counter 
TrackObj.LifeTime   = 0;   
% log likelihood 
TrackObj.LogLike    = Par.GateLevel;  % is not zero but it is not so bad start 
% history 
TrackObj.Hist       = zeros(size(F,1),Par.HistLen); 
 
% distribute the trackers evently over the measurement space 
dy1                 = diff(Par.Y1Bounds); 
dy2                 = diff(Par.Y2Bounds); 
TrackNumY1          = max([1 floor(sqrt(dy1/dy2*Par.TrackNum))]); 
TrackNumY2          = ceil(Par.TrackNum/TrackNumY1); 
% generates grid of centers 
[yy1,yy2]           = meshgrid(((Par.Y1Bounds(1)+dy1/TrackNumY1/2):dy1/TrackNumY1:Par.Y1Bounds(2)),... 
                               ((Par.Y2Bounds(1)+dy2/TrackNumY2/2):dy2/TrackNumY2:Par.Y2Bounds(2))); 
CenterData          = [yy1(:) yy2(:)]'; 
 
% init the list 
TrackList = []; 
for i=1:Par.TrackNum, 
     
    TrackList{i}.TrackObj = TrackObj; 
    TrackList{i}.TrackObj.x(ObservInd) = CenterData(:,i); 
 
end;