clear?all
close?all
clc

tf=100;
amaxx1=0.01;
eff=800;
N=1000;
%?N=2000;
for?t=1:tf
????truy（t）=1/100*t*t+t+100;
end
T=1;
%?F=[1?T?1/2*T*T;0?1?T;0?0?1];
F=[1?T;0?1];
G1=[1/6*amaxx1*T^2?0;1/3*amaxx1*T?0];
%?wv=0.06;
%?F=[1?T?1/2*T*T;0?1?T;0?0?sin（wv*T）];
q=1/N*ones（1N）;%權重初始化
P1=1;
R=100;
a=100;
b=500;
A=rand（1N）;
B=randn（1N）;
s（1:）=a+（A-0.5）;
s（2:）=0+1.5.*（A-0.5）;
%?s（2:）=1+1.*（A-0.5）;
%?s（3:）=0+0.01.*（A-0.5）;
s2?=?[s];
m=zeros（1N）;
mm=[m];
%?q=ones（1N）;
??menxian=ones（1tf）;
Q?=?0.25;?%?process?noise?covariance
for?k=1:tf?
????i=1:500;
????i=i‘;
????temp=randn（5001）;
????z（:k）=rectpuls（i-1/100*k*k-k-1003）+0.5*temp;
????z（:101）?=?500:-1:1;
????B?=?sortrows（z101）;
????B（:101）?=?[];
????y=B（1:5001:100）;
????r=（find（y（:k）>0.5））;%閥值為0.5
????guancezhi=r‘;
????gc=size（guancezhi2）;
????ll=zeros（1gc）;
%step2?每個粒子表示目標有無狀態的轉移
???for?i=1:N?
????????if?m（i）==0
????????????if?rand>0.9
????????????????mm（i）=1;
????????????else
????????????????mm（i）=0;
????????????end
????????elseif?m（i）==1
????????????if?rand<0.1
????????????????mm（i）=0;
????????????else
????????????????mm（i）=1;
????????????end
????????end
????end

????m=[mm];
????for?i=1:N
????????if?m（i）==1
???????????s（:i）=F*s（:i）+0.1*（rand（21））;?%繼承粒子狀態
????????elseif?m（i）==0
????????????s（:i）=s2（:i）;
????????end
????????if?m（i）==1
????????????for?g=1:gc
???????????????temp=r（g）;
??????????????if（abs（temp-s（1i））<=5）?%波動范圍是5
?????????????????ll（g）=1/abs（temp-s（1i））;
??????????????end
????????????end
????????????lsum=sum（ll）;
%??q（i）=q（i）*（1+lsum）;
????????????q（i）=q（i）*（lsum）;
?????????elseif?m（i）==0
????????????q（i）=1;
?