function?[XXEp]=immkf（uyTtotalTime）
%五個模型的概率轉移矩陣
s=0.001/4;
k=0.001/2;
P=[0.999??????s????????s???????????s???????????s????????
????k??????0.433???????0.333???????0.233???????k??????
????k??????0.233???????0.433???????0.333???????k???????
????k??????0.233???????0.333???????0.433???????k?????
????s??????s??????????????s???????s???????0.999?];
%初始模型概率
U=[1?0?0?0?0];
modelNum=length（U）;

%參數
Mc=43100/2;
Mb=2280;
Mw=1650*2;
Cs=1.2e5;
Ks=0.4e6;
Cp=1.5e4*2;
Kp=1.2e6*2;
n=totalTime/T+1;
t=0:T:totalTime;

%Mode1?No?malfunction?in?vehicle
G1=[（Mc-Cs*T）/Mc??-Ks*T/Mc??Cs*T/Mc??Ks*T/Mc??0???0
????0????1?????0?????0?????0????0
????Cs*T/Mb???Ks*T/Mb???（Mb-Cs*T-Cp*T）/Mb???（-Ks*T-Kp*T）/Mb???Cp*T/Mb??Kp*T/Mb
????0????0?????0?????1?????0????0
????0????0????Cp*T/Mw???Kp*T/Mw???（Mw-Cp*T）/Mw???-Kp*T/Mw
????0????0?????0?????0?????0????1];
H1=[0?0?0?0?1?0]‘;
C1=[-Cs/Mc??-Ks/Mc??Cs/Mc??Ks/Mc??0???0];
Q1=1e-8*eye（66）;
R1=1e-2;
XE1=zeros（61）;
PE1=Q1;

%Mode2?A?secondary?vetical?spring?failure（20%?reduction?in?spring?rate）
Ks2=（1-0.2）*Ks;
G2=[（Mc-Cs*T）/Mc??-Ks2*T/Mc??Cs*T/Mc??Ks2*T/Mc??0???0
????0????1?????0?????0?????0????0
????Cs*T/Mb???Ks2*T/Mb???（Mb-Cs*T-Cp*T）/Mb???（-Ks2*T-Kp*T）/Mb???Cp*T/Mb??Kp*T/Mb
????0????0?????0?????1?????0????0
????0????0????Cp*T/Mw???Kp*T/Mw???（Mw-Cp*T）/Mw???-Kp*T/Mw
????0????0?????0?????0?????0????1];
H2=H1;
C2=[-Cs/Mc??-Ks2/Mc??Cs/Mc??Ks2/Mc??0???0];
Q2=Q1;
R2=4*R1;
XE2=XE1;
PE2=Q2;

%Mode3?A?secondary?vetical?spring?failure（40%?reduction?in?spring?rate）
Ks3=（1-0.4）*Ks;
G3=[（Mc-Cs*T）/Mc??-Ks3*T/Mc??Cs*T/Mc??Ks3*T/Mc??0???0
????0????1?????0?????0?????0????0
????Cs*T/Mb???Ks3*T/Mb???（Mb-Cs*T-Cp*T）/Mb???（-Ks3*T-Kp*T）/Mb???Cp*T/Mb??Kp*T/Mb
????0????0?????0?????1?????0????0
????0????0????Cp*T/Mw???Kp*T/Mw???（Mw-Cp*T）/Mw???-Kp*T/Mw
????0????0?????0?????0?????0????1];
H3=H1;
C3=[-Cs/Mc??-Ks3/Mc??Cs/Mc??Ks3/Mc??0???0];
Q3=Q1;
R3=6*R1;
XE3=XE1;
PE3=Q3;

%Mode4?A?secondary?vetical?spring?failure（60%?reduction?in?spring?rate）
Ks4=（1-0.6）*Ks;
G4=[（Mc-Cs*T）/Mc??-Ks4*T/Mc??Cs*T/Mc??Ks4*T/Mc??0???0
????0????1?????0?????0?????0????0
????Cs*T/Mb???Ks4*T/Mb???（Mb-Cs*T-Cp*T）/Mb???（-Ks4*T-Kp*T）/Mb???Cp*T/Mb??Kp*T/Mb
????0????0?????0?????1?????0????0
????0????0????Cp*T/Mw???Kp*T/Mw???（Mw-Cp*T）/Mw???-Kp*T/Mw
????0????0?????0?????0?????0????1];
H4=H1;
C4=[-Cs/Mc??-Ks4/Mc??Cs/Mc??Ks4/Mc??0???0];
Q4=Q1;
R4=8*R1;
XE4=XE1;
PE4=Q4;


%Mode5?A?primary?lateral?damper?failure（100%?reduciton）
Cp5=0*Cp;
G5=[（Mc-Cs*T）/Mc??-Ks*T/Mc??Cs*T/Mc??Ks*T/Mc??0???0
????0????1?????0?????0?????0????0
????Cs*T/Mb???Ks*T/Mb???（Mb-Cs*T-Cp5*T）/Mb???（-Ks*T-Kp*T）/Mb???Cp5*T/Mb??Kp*T/Mb
????0????0?????0?????1?????0????0
????0????0????Cp5*T/Mw???Kp*T/Mw???（Mw-Cp5*T）/Mw???-Kp*T/Mw
????0????0?????0?????0?????0????1];
H5=H1;
C5=[-Cs/Mc??-Ks/Mc??Cs/Mc??Ks/Mc??0???0];
Q5=Q1;
R5=70*R1;
XE5=XE1;
PE5=Q5;


%?輸入交互
N=length（u）;
%循環

for?k=1:N
c=zeros（1modelNum）;
UU=zeros（modelNummodelNum）;
for

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????8312??2010-04-12?10:23??IMM目標跟蹤\immkf.m
?????文件?????????608??2010-04-12?10:22??IMM目標跟蹤\mode.m
?????文件????????2809??2010-04-12?10:21??IMM目標跟蹤\realTrack.m
?????文件?????????148??2010-04-23?22:25??IMM目標跟蹤\vehicleParameters.m
?????文件??????????40??2010-05-12?09:33??IMM目標跟蹤\說明.txt
?????目錄???????????0??2018-08-29?15:52??IMM目標跟蹤\