function?[New_Sample_SetNew_Sample_probability]=assemble（Sample_SetusetimesSample_probabilityN）

%找到usetimes中元素為0即要拋棄元素的位置
b=find（usetimes==0）;
%找到usetimes中元素大于1即要進行復制的粒子的位置
c=find（usetimes>1）;
%找到不用復制的粒子的位置
d=find（usetimes==1）;


%對不需要復制的粒子直接進行替換
k=1;
length_d=length（d）;
while（k<=length_d）
????????New_Sample_Set（d（k））.x=Sample_Set（d（k））.x;
????????New_Sample_Set（d（k））.y=Sample_Set（d（k））.y;
????????k=k+1;
end

%分別對bc數組進行索引
length_b=length（b）;
length_c=length（c）;%記錄要復制粒子位置的數組長度

%對需要進行復制的粒子先進行一次替換
k=1;
while（k<=length_c）
????????New_Sample_Set（c（k））.x=Sample_Set（c（k））.x;
????????New_Sample_Set（c（k））.y=Sample_Set（c（k））.y;
????????k=k+1;
end


i=1;
j=1;
while（i<=length_c）
????while（usetimes（c（i））>1&&j<=length_b）
????????wi=Sample_probability（c（i））/（Sample_probability（c（i））+Sample_probability（b（j）））;
????????wj=Sample_probability（b（j））/（Sample_probability（c（i））+Sample_probability（b（j）））;
????????New_Sample_Set（b（j））.x=round（wi*Sample_Set（c（i））.x+wj*Sample_Set（b（j））.x）;
????????New_Sample_Set（b（j））.y=round（wi*Sample_Set（c（i））.y+wj*Sample_Set（b（j））.y）;
????????j=j+1;
????????usetimes（c（i））=usetimes（c（i））-1;
????end
????i=i+1;
end
%新樣本中每個粒子的權值重新分配為1/N
for?i=1:N
????New_Sample_probability（i）=1/N;
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-10-21?13:05??matlab目標跟蹤仿真程序\
?????目錄???????????0??2015-10-21?13:05??matlab目標跟蹤仿真程序\仿真圖片1\
?????文件???????13927??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\1.bmp
?????文件???????13755??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\10.bmp
?????文件???????13372??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\100.bmp
?????文件???????13294??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\101.bmp
?????文件???????13301??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\102.bmp
?????文件???????13271??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\103.bmp
?????文件???????13298??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\104.bmp
?????文件???????13252??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\105.bmp
?????文件???????13285??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\106.bmp
?????文件???????13292??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\107.bmp
?????文件???????13293??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\108.bmp
?????文件???????13351??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\109.bmp
?????文件???????13693??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\11.bmp
?????文件???????13309??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\110.bmp
?????文件???????13344??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\111.bmp
?????文件???????13350??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\112.bmp
?????文件???????13320??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\113.bmp
?????文件???????13300??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\114.bmp
?????文件???????13383??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\115.bmp
?????文件???????13379??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\116.bmp
?????文件???????13397??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\117.bmp
?????文件???????13380??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\118.bmp
?????文件???????13369??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\119.bmp
?????文件???????13682??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\12.bmp
?????文件???????13306??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\120.bmp
?????文件???????13375??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\121.bmp
?????文件???????13402??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\122.bmp
?????文件???????13405??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\123.bmp
?????文件???????13402??2010-02-26?22:46??matlab目標跟蹤仿真程序\仿真圖片1\124.bmp
............此處省略163個文件信息