%?Analyse?performs?basic?tracking?result?analysis.
%?
%?input:?
%???first?&?last?-?only?compare?real?target?states?and?estimations?
%???????during?time?step?[first?:?last].
%???estm?-?1*nTarg?（or?nTarg*1）?cell?array.?Each?cell?contains?a?
%???????4*??matrix.?Each?column?of?the?matrix?is?estimation?for?
%???????[x?vx?y?vy]‘.?
%???state?-?real?target?state?recorded?in?a?similar?way?as?estm.?
%???nTarg?-?number?of?targets
%???
%?output:?
%???errRMS?-?nTarg*4?vector?recording?root?mean?square?error?of
%???????[x?vx?y?vy]?for?each?target.?
%???lose?-?nTarg*1?binary?vector?indicating?whether?losing?track?
%???????event?occurs?for?each?target.?

function?[errRMS?lose]?=?Analyse（first?last?estm?state?nTarg）

errRMS?=?zeros（nTarg?4）;
lose?=?zeros（nTarg?1）;

for?i?=?1?:?nTarg
????a?=?estm{i};
????b?=?state{i};?

	%?check?if?losing?track?on?the?middle?way
	if?length（a）?????????lose（i）?=?1;?
????????errRMS（i?:）?=?NaN;
????????continue;
	end

	%?check?if?the?estimation?deviates?from?the?real?track?too
	%?much?（losing?track）.?The?method?is?to?compare?mean?position
	%?error?and?mean?step?displacement?of?the?target:?if?the?
	%?former?is?larger?then?we?think?the?tracking?fails.?
	errPos?=?sqrt（（a（1?first:last）?-?b（1?first:last））.^2?+?...
		（a（3?first:last）?-?b（3?first:last））.^2）;
	difPos?=?diff（b（[1?3]?first:last）?1?2）;
	stepPos?=?sqrt（difPos（1?:）.^2?+?difPos（2?:）.^2）;
	if?mean（errPos）?>?mean（stepPos）
		lose（i）?=?1;
		errRMS（i?:）?=?NaN;
		continue;
	end
	
	err?=?a（:?first:last）?-?b（:?first:last）;?%?err[x?vx?y?vy]‘
	errRMS（i?:）?=?（sqrt（mean（err.^2?2）））‘;
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????2681??2009-06-03?12:49??MHT\GenHypo.m

?????文件???????2481??2009-06-06?20:18??MHT\MHT.m

?????文件???????2239??2009-06-03?12:49??MHT\Murty.m

?????文件???????1805??2009-06-03?12:49??MHT\FormatTrans.m

?????文件???????2424??2009-06-06?15:34??MHT\MHT.asv

?????文件???????3912??2009-06-03?12:49??MHT\KF_MHT_Update.m

?????文件???????3263??2009-06-03?12:49??MHT\CurveOne.mat

?????文件????????964??2009-06-06?16:44??MHT\RunIt.m

?????文件???????9216??2009-06-03?12:49??MHT\assignmentoptimal.mexw32

?????文件???????2351??2009-06-03?12:49??MHT\KF_MHT_Predict.m

?????文件????????161??2009-06-03?12:49??MHT\Compare.m

?????文件??????11051??2009-06-07?19:29??MHT\assignmentoptimal.mexglx

?????文件????????467??2009-06-03?12:49??MHT\Hungarian.m

?????文件?????????75??2009-06-03?12:49??MHT\ChangeLog.asv

?????文件???????1766??2009-06-03?12:49??MHT\MurtyPartition.m

?????文件??????13571??2007-10-27?13:36??MHT\assignmentoptimal.c

?????文件???????1829??2009-06-03?12:49??MHT\MurtyPartition.asv

?????文件???????2484??2009-06-03?12:49??MHT\StraightFour.m

?????文件???????3086??2009-06-03?12:49??MHT\Prune.m

?????文件???????1657??2009-06-03?12:49??MHT\Analyse.m

?????文件???????1929??2009-06-03?12:49??MHT\GenProbMat.m

?????文件????????149??2009-06-03?12:49??MHT\DrawMultiNorm.m

?????文件????????294??2009-06-03?12:49??MHT\ChangeLog.txt

?????文件???????8021??2009-06-03?12:49??MHT\useful\assignmentoptimal.m

?????文件???????4886??2008-01-30?18:53??MHT\useful\assignment\assignmentsuboptimal1.m

?????文件???????8021??2008-01-30?18:53??MHT\useful\assignment\assignmentoptimal.m

?????文件???????6170??2008-01-30?18:59??MHT\useful\assignment\assignment.html

?????文件???????4594??2007-11-24?11:42??MHT\useful\assignment\testassignment.m

?????文件???????6872??2005-08-05?10:37??MHT\useful\assignment\assignmentsuboptimal1.c

?????文件???????4171??2008-01-30?18:53??MHT\useful\assignment\assignmentallpossible.m

............此處省略9個文件信息