function?[w_km_kP_kJ_k]?=?extendedTargetPHDfilter（w_k1m_k1P_k1J_k1ZkF_k1Q_k1H_kR_k）

%?Probabilities?of?survival?and?detection
global?p_S_k?p_D_k
%?The?spontaneous?birth?distributions
global?w_gam_k?m_gam_k?P_gam_k?J_gam_k
%?The?spawn?distributions
global?w_beta_k?d_beta_k?F_beta_k1?Q_beta_k1?J_beta_k
%?Expected?number?of?measurements
global?beta_D

%?Allocate?some?memory
w_kk1?=?zeros（1J_gam_k+J_beta_k*J_k1+J_k1）;
m_kk1?=?zeros（size（m_k11）J_gam_k+J_beta_k*J_k1+J_k1）;
P_kk1?=?zeros（size（P_k11）size（P_k12）J_gam_k+J_beta_k*J_k1+J_k1）;

nu_kk1?=?zeros（size（H_k1）J_gam_k+J_beta_k*J_k1+J_k1）;
S_k?=?zeros（size（R_k1）size（R_k2）J_gam_k+J_beta_k*J_k1+J_k1）;
K_k?=?zeros（size（P_kk11）size（S_k2）J_gam_k+J_beta_k*J_k1+J_k1）;
P_kk?=?zeros（size（P_kk11）size（P_kk12）J_gam_k+J_beta_k*J_k1+J_k1）;

nZk?=?size（Zk2）;
w_k?=?zeros（1（nZk+1）*（J_gam_k+J_beta_k*J_k1+J_k1））;
m_k?=?zeros（size（m_kk11）（nZk+1）*（J_gam_k+J_beta_k*J_k1+J_k1））;
P_k?=?zeros（size（P_kk11）size（P_kk12）（nZk+1）*（J_gam_k+J_beta_k*J_k1+J_k1））;

gam?=?zeros（1J_gam_k+J_beta_k*J_k1+J_k1）;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?Step?1:?Prediction?for?birth?targets?spontaneous?birth?and?spawn.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
i?=?0;
for?j?=?1:J_gam_k
????i?=?i+1;
????w_kk1（1i）?=?w_gam_k（1j）;
????m_kk1（:i）?=?m_gam_k（:j）;
????P_kk1（::i）?=?P_gam_k（::j）;
end

for?j?=?1:J_beta_k
????for?l?=?1:J_k1
????????i?=?i+1;
????????w_kk1（1i）?=?w_k1（1l）*w_beta_k（1j）;
????????m_kk1（:i）?=?d_beta_k（:j）?+?F_beta_k1（::j）*m_k1（:l）;
????????P_kk1（::i）?=?Q_beta_k1（::j）?+?F_beta_k1（::j）*P_k1（::l）*F_beta_k1（::j）‘;
????end
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?Step?2:?Prediction?for?existing?targets
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for?j?=?1:J_k1
????i?=?i+1;
????w_kk1（1i）?=?p_S_k*w_k1（1j）;
????m_kk1（:i）?=?F_k1*m_k1（:j）;
????P_kk1（::i）?=?Q_k1?+?F_k1*P_k1（::j）*F_k1‘;
end
J_kk1?=?i;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?Step?3:?Construction?of?PHD?update?components
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for?j?=?1:J_kk1
????%?Expected?number?of?measurements
????gam（j）?=?beta_D;
????nu_kk1（:j）?=?H_k*m_kk1（:j）;
????S_k（::j）?=?R_k?+?H_k*P_kk1（::j）*H_k‘;
????H_k_invS_k?=?H_k‘/S_k（::j）;?%?instead?of?H_k‘*inv（S_k（::j））
????K_k（::j）?=?P_kk1（::j）*H_k_invS_k;
????P_kk（::j）?=?（eye（size（P_kk1（::j）））-K_k（::j）*H_k）*P_kk1（::j）;
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?Step?4:?Update
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for?j?=?1:J_kk1
????w_k（1j）?=?（1-（1-exp（-gam（j）））*p_D_k）*w_kk1（1j）;
????m_k（:j）?=?m_kk1（:j）;
????P_k（::j）?=?P_kk1（::j）;
end
%?l?is?an?index

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-05-09?21:12??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\
?????文件??????483612??2014-04-17?11:37??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\3046.pdf
?????文件?????1198355??2014-04-17?15:36??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\A?Gaussian?Mixture?PHD?filter?for?extended?target?tracking.pdf
?????文件????????6073??2010-05-19?00:44??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\extendedTargetPHDfilter.m
?????文件????????5473??2010-05-19?00:48??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\extendedTargetTrackingPHD.m
?????文件????????6965??2010-05-19?00:37??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\extendedTargetTrackingPHD_mulitpleTargets.m
?????文件?????????488??2010-03-08?23:07??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\generateClutter.m
?????文件?????????911??2010-03-09?17:49??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\generateExtendedMeasurements.m
?????文件??????690065??2014-04-17?10:56??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\GranstromLO2010_FUSION_ETGMPHD.pdf
?????文件????????1113??2010-05-19?00:42??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\initParameters_project.m
?????文件????????4709??2010-05-19?00:45??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\partitionMeasurementSet_4.m
?????文件????????3715??2010-05-19?00:45??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\phdFilter.m
?????文件????????1036??2010-05-19?00:46??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\phdPruning.m
?????文件?????????266??2010-05-19?00:46??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\phdStateExtraction.m
?????文件?????????951??2010-05-19?00:29??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\plotPHDsurface.m
?????文件?????????760??2010-05-24?19:39??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\README.txt
?????文件?????????245??2010-05-19?00:27??A?Gaussian?Mixture?PHD?filter?for?Extended?Target?Tracking\Sigmacircle.m