%?Analyse?performs?basic?tracking?result?analysis.
%?
%?input:?
%???first?&?last?-?only?compare?real?target?states?and?estimations?
%???????during?time?step?[first?:?last].
%???estm?-?1*nTarg?（or?nTarg*1）?cell?array.?Each?cell?contains?a?
%???????4*??matrix.?Each?column?of?the?matrix?is?estimation?for?
%???????[x?vx?y?vy]‘.?
%???state?-?real?target?state?recorded?in?a?similar?way?as?estm.?
%???nTarg?-?number?of?targets
%???
%?output:?
%???errRMS?-?nTarg*4?vector?recording?root?mean?square?error?of
%???????[x?vx?y?vy]?for?each?target.?
%???lose?-?nTarg*1?binary?vector?indicating?whether?losing?track?
%???????event?occurs?for?each?target.?

function?[errRMS?lose]?=?Analyse（first?last?estm?state?nTarg）

errRMS?=?zeros（nTarg?4）;
lose?=?zeros（nTarg?1）;

for?i?=?1?:?nTarg
????a?=?estm{i};
????b?=?state{i};?

	%?check?if?losing?track?on?the?middle?way
	if?length（a）?????????lose（i）?=?1;?
????????errRMS（i?:）?=?NaN;
????????continue;
	end

	%?check?if?the?estimation?deviates?from?the?real?track?too
	%?much?（losing?track）.?The?method?is?to?compare?mean?position
	%?error?and?mean?step?displacement?of?the?target:?if?the?
	%?former?is?larger?then?we?think?the?tracking?fails.?
	errPos?=?sqrt（（a（1?first:last）?-?b（1?first:last））.^2?+?...
		（a（3?first:last）?-?b（3?first:last））.^2）;
	difPos?=?diff（b（[1?3]?first:last）?1?2）;
	stepPos?=?sqrt（difPos（1?:）.^2?+?difPos（2?:）.^2）;
	if?mean（errPos）?>?mean（stepPos）
		lose（i）?=?1;
		errRMS（i?:）?=?NaN;
		continue;
	end
	
	err?=?a（:?first:last）?-?b（:?first:last）;?%?err[x?vx?y?vy]‘
	errRMS（i?:）?=?（sqrt（mean（err.^2?2）））‘;
end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件????????842??2009-06-03?12:49??Matlab_JPDA\Validate.m

?????文件???????1805??2009-06-03?12:49??Matlab_JPDA\FormatTrans.m

?????文件???????3024??2009-06-03?12:49??Matlab_JPDA\KF_JPDA_Update.m

?????文件????????627??2009-06-03?12:49??Matlab_JPDA\GE_Mapping.m

?????文件???????3263??2009-06-03?12:49??Matlab_JPDA\CurveOne.mat

?????文件????????654??2009-06-06?16:03??Matlab_JPDA\RunIt.m

?????文件???????2172??2009-06-03?12:49??Matlab_JPDA\KF_JPDA_Predict.m

?????文件????????460??2009-06-03?12:49??Matlab_JPDA\GE_MakeMap.m

?????文件???????1134??2009-06-03?12:49??Matlab_JPDA\CalcProbM2T.m

?????文件???????1738??2009-06-06?20:18??Matlab_JPDA\JPDA.m

?????文件????????180??2009-06-03?12:49??Matlab_JPDA\Compare.m

?????文件???????2662??2009-06-03?12:49??Matlab_JPDA\CalcEventProb.m

?????文件????????906??2009-06-03?12:49??Matlab_JPDA\GE_Delete.m

?????文件?????????37??2009-06-03?12:49??Matlab_JPDA\ChangeLog.asv

?????文件???????2594??2009-06-03?12:49??Matlab_JPDA\CalcEventProb.asv

?????文件???????2484??2009-06-03?12:49??Matlab_JPDA\StraightFour.m

?????文件???????1589??2009-06-03?12:49??Matlab_JPDA\GE_Assign.m

?????文件???????1657??2009-06-03?12:49??Matlab_JPDA\Analyse.m

?????文件????????149??2009-06-03?12:49??Matlab_JPDA\DrawMultiNorm.m

?????文件???????5259??2009-06-03?12:49??Matlab_JPDA\kf_mt_demo.m

?????文件????????182??2009-06-03?12:49??Matlab_JPDA\MultiNormPdf.m

?????文件?????????96??2009-06-03?12:49??Matlab_JPDA\ChangeLog.txt

?????文件????????947??2009-06-03?12:49??Matlab_JPDA\GetEvents.m

?????文件????????652??2009-06-03?12:49??Matlab_JPDA\GE_BT\GE_Reject.m

?????文件????????216??2009-06-03?12:49??Matlab_JPDA\GE_BT\usage.txt

?????文件????????330??2009-06-03?12:49??Matlab_JPDA\GE_BT\GE_Accept.m

?????文件????????448??2009-06-03?12:49??Matlab_JPDA\GE_BT\GE_BT.m

?????文件????????872??2009-06-03?12:49??Matlab_JPDA\GE_BT\GetEvents.m

?????文件????????627??2009-06-03?12:49??Matlab_JPDA\GE_Brutal\GE_Mapping.m

?????文件????????460??2009-06-03?12:49??Matlab_JPDA\GE_Brutal\GE_MakeMap.m

............此處省略9個(gè)文件信息