KF_NMCDA_PREDICT KF/NMCDA Update step
Syntax:
[S,EV_STRS] = kf_nmcda_update(S,Y,t,H,R,CP,CD,pb,alpha,beta)
Author:
Simo Särkkä, 2003
In:
S - 1xNP cell array containing particle structures
Y - Dx1 measurement vector
t - Time stamp of the measurement
H - Measurement matrix.
R - Measurement noise covariance.
CP - Prior probability of a measurement being due
to clutter. (optional, default zero)
CD - Probability density of clutter measurements,
which could be for example 1/V, where V is
the volume of clutter measurement space. (optional, default 0.01)
pb - Prior probability of birth (optional, default 0.01)
alpha - Parameter alpha for the gamma
distribution model for time to death (optional, default 1)
beta - Parameter beta for the gamma
distribution model for time to death (optional, default 10)
Out:
S - Updated struct array of particles
EV_STRS - Comment strings of happened events
Description:
Perform update step of Rao-Blackwellized Monte Carlo
Data Association Algorithm with Number of Targets estimation.
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See also:
KF_NMCDA_INIT, KF_NMCDA_PREDICT, EKF_MCDA_UPDATE, KF_PREDICT