clear?all;
clc;
close?all;
T=10;
sigmasita=0.3*pi/180;
sigmar=40;
Time=4;
Vmax=600;
Vmin=100;
Ntarget=5;
PG=0.95;
gamma=2*log（1/（1-PG））;

x1=55000;
y1=55000;
vx1=500;
vy1=10;

x2=45000;
y2=45000;
vx2=500;
vy2=10;

x3=35000;
y3=35000;
vx3=500;
vy3=10;

x4=45000;
y4=25000;
vx4=500;
vy4=10;

x5=55000;
y5=15000;
vx5=500;
vy5=10;

data=zeros（54Time）;
output=[];
data（::1）=[
????x1y1vx1vy1;...
????x2y2vx2vy2;...
????x3y3vx3vy3;...
????x4y4vx4vy4;...
????x5y5vx5vy5];
for?k=1:Time-1
????for?i=1:Ntarget
????????x=data（i1k）+T*data（i3k）;
????????y=data（i2k）+T*data（i4k）;
????????[sigmaxsigmaysigmaxy]=transPtoR（xysigmarsigmasita）;
????????data（i1k+1）=x+sigmax*（rand（1）-0.5）;
????????data（i2k+1）=y+sigmay*（rand（1）-0.5）;
????????data（i3k+1）=data（i3k）;
????????data（i4k+1）=data（i4k）;
????end
end
%%%%%%%%%%%%%%%%%%%
clutterNO=50;?
clutterData=zeros（clutterNO4Time）;
for?k=1:Time
????for?i=1:clutterNO
????????clutterData（i1k）=100000*rand（11）;
????????clutterData（i2k）=100000*rand（11）;
%?????????clutterData（i3k）=100000*rand（11）;??
%?????????clutterData（i4k）=100000*rand（11）;
????end
????FuseData（::k）=[data（::k）;clutterData（::k）];?
end
%%%%%%%%%%%%%%%%%%%%%%%%%?Hough變換?%%%%%%%%%%%%%%%%%
sita=0:pi/180:pi;
M=length（sita）;
delta_rou=500;
H=zeros（M2）;
for?ii=1:M
????H（ii:）=[cos（sita（ii））?sin（sita（ii））];
end
[rowcolume]=size（FuseData（::1））;
D=zeros（Time*row2）;
for?jj=1:Time
????D（1+（jj-1）*row:jj*row:）=FuseData（:1:2jj）;
end
R=H*D‘;
[mn]=size（R）;
N=round（10e4*1.5/delta_rou）;
A=zeros（MN）;
for?i=1:m
????for?j=1:n
????????sita_index=i;
????????rou=R（ij）;
????????if?rou>=1?&&?rou<=10e4*1.5
????????????A（sita_indexceil（rou/delta_rou））=A（sita_indexceil（rou/delta_rou））+1;
????????end
????end
end
figure（1）;???%??畫三維圖
surf（A）;
SHADING?INTERP

nn=120;
sita_index=zeros（1nn）;
rou_index=zeros（1nn）;
for?kk=1:nn
????maxx=0;
????for?i=1:M
????????for?j=1:N
????????????if?A（ij）>maxx
????????????????maxx=A（ij）;
????????????????sita_index0=i;
????????????????rou0=j;
????????????end
????????end
????end
????sita_index（kk）=sita_index0;
????rou_index（kk）=rou0;
????A（sita_index0rou0）=0;
end

figure（2）???%%%%%%%%
x=（D（:1））‘;
for?kk=1:nn
??????y=（rou_index（kk）*delta_rou-x*cos（sita（sita_index（kk））））/sin（sita（sita_index（kk）））;
????plot（xy）;hold?on;
end
axis（[01000000100000]）;xlabel（‘x/m‘）;ylabel（‘y/m‘）;
%%%%%%%%%%%%%%%%%%%%%%%%%?
figure（3）
for?i=1:4
????for?j=1:5
????plot（FuseData（j1i）FuseData（j2i）‘ro‘）;hold?on;?%?
????end
end
for?i=1:1
????for?j=5+1:5+clutterNO
????plot（FuseData（j1i）FuseData（j2i）‘y*‘）;hold?on;?%?
????end
end
for?i=2:2
????for?j=5+1:5+clutterNO
????plot（FuseData（j1i）FuseData（j2i）‘bs‘）;hold?on;%?
????end
end
for?i=3:3
????for?j=5+1:5+clutterNO
????plot（FuseData（j1i）FuseData（j2i）‘g+‘）;hold?on;%?
????end
end
for?i=4:4
????for?j=5+1:5+clut

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-03-17?22:15??houghts\
?????文件????????3145??2014-03-17?22:09??houghts\Hough_Initiation.m
?????文件?????????411??2010-01-17?16:26??houghts\transPtoR.m
?????文件??????????87??2014-03-17?22:08??houghts\新建文本文檔.txt