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??分配內(nèi)存
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）siz

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2013-10-21?13:51??GM-PHD\
?????目錄???????????0??2013-10-21?13:50??GM-PHD\1\
?????文件????????6084??2013-09-12?20:14??GM-PHD\1\extendedTargetPHDfilter.m
?????文件????????5681??2013-09-11?20:53??GM-PHD\1\extendedTargetTrackingPHD.m
?????文件????????6965??2010-05-19?00:38??GM-PHD\1\extendedTargetTrackingPHD_mulitpleTargets.m
?????文件?????????488??2010-03-08?23:07??GM-PHD\1\generateClutter.m
?????文件?????????912??2013-09-11?19:16??GM-PHD\1\generateExtendedMeasurements.m
?????文件????????1113??2010-05-19?00:42??GM-PHD\1\initParameters_project.m
?????文件????????4807??2013-09-12?20:14??GM-PHD\1\partitionMeasurementSet_4.m
?????文件????????3715??2010-05-19?00:45??GM-PHD\1\phdFilter.m
?????文件????????1036??2010-05-19?00:46??GM-PHD\1\phdPruning.m
?????文件?????????266??2010-05-19?00:46??GM-PHD\1\phdStateExtraction.m
?????文件?????????951??2010-05-19?00:29??GM-PHD\1\plotPHDsurface.m
?????文件?????????760??2010-05-24?19:39??GM-PHD\1\README.txt
?????文件?????????245??2010-05-19?00:27??GM-PHD\1\Sigmacircle.m