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추정 필터

칼만 필터 및 입자 필터, 선형화 함수, 모션 모델

Sensor Fusion and Tracking Toolbox™는 선형 모션 모델 또는 비선형 모션 모델, 선형 측정 모델 또는 비선형 측정 모델, 불완전한 관측 가능성 등과 같은 특정 시나리오에 최적화된 추정 필터를 제공합니다.

함수

모두 확장

trackingKFLinear Kalman filter for object tracking
trackingEKFExtended Kalman filter for object tracking
trackingUKFUnscented Kalman filter for object tracking
trackingABFAlpha-beta filter for object tracking
trackingCKFCubature Kalman filter for object tracking
trackingIMMInteracting multiple model (IMM) filter for object tracking
trackingGSFGaussian-sum filter for object tracking
trackingPFParticle filter for object tracking
trackingMSCEKFExtended Kalman filter for object tracking in modified spherical coordinates (MSC)
ggiwphd Gamma Gaussian Inverse Wishart (GGIW) PHD filter (R2019a 이후)
gmphdGaussian mixture (GM) PHD filter (R2019b 이후)

trackingKF

initcvkfCreate constant-velocity linear Kalman filter from detection report
initcakfCreate constant-acceleration linear Kalman filter from detection report

trackingEKF

initcvekfCreate constant-velocity extended Kalman filter from detection report
initcaekfCreate constant-acceleration extended Kalman filter from detection report
initctekfCreate constant turn-rate extended Kalman filter from detection report
initsingerekfSinger acceleration trackingEKF initialization (R2020b 이후)

trackingUKF

initcvukfCreate constant-velocity unscented Kalman filter from detection report
initcaukfCreate constant-acceleration unscented Kalman filter from detection report
initctukfCreate constant turn-rate unscented Kalman filter from detection report

trackingABF

initcvabfCreate constant velocity tracking alpha-beta filter from detection report
initcaabfCreate constant acceleration alpha-beta tracking filter from detection report

trackingCKF

initcvckfCreate constant velocity tracking cubature Kalman filter from detection report
initcackfCreate constant acceleration tracking cubature Kalman filter from detection report
initctckfCreate constant turn rate tracking cubature Kalman filter from detection report

trackingIMM

initekfimmInitialize trackingIMM object
initcvimmIMM initialization with two constant velocity models (R2023b 이후)

trackingGSF

initapekfConstant velocity angle-parameterized EKF initialization
initrpekfConstant velocity range-parameterized EKF initialization

trackingPF

initcvpfCreate constant velocity tracking particle filter from detection report
initcapfCreate constant acceleration tracking particle filter from detection report
initctpfCreate constant turn rate tracking particle filter from detection report

trackingMSCEKF

initcvmscekfConstant velocity trackingMSCEKF initialization

ggiwphd

initcvggiwphdCreate constant velocity ggiwphd filter (R2019a 이후)
initcaggiwphdCreate constant acceleration ggiwphd filter (R2019a 이후)
initctggiwphdCreate constant turn-rate ggiwphd filter (R2019a 이후)

gmphd

initcvgmphdCreate constant velocity gmphd filter (R2019b 이후)
initcagmphdCreate constant acceleration gmphd filter (R2019b 이후)
initctgmphdCreate constant turn-rate gmphd filter (R2019b 이후)
initctrectgmphdCreate constant turn-rate rectangular target gmphd filter (R2019b 이후)

등속도 모델

constvelConstant velocity state update
constveljacJacobian for constant-velocity motion
constvelmscConstant velocity (CV) motion model in MSC frame
constvelmscjacJacobian of constant velocity (CV) motion model in MSC frame
cvmeasMeasurement function for constant velocity motion
cvmeasjacJacobian of measurement function for constant velocity motion
cvmeasmscMeasurement based on constant velocity (CV) model in MSC frame
cvmeasmscjacJacobian of measurement using constant velocity (CV) model in MSC frame

등가속도 모델

constaccConstant-acceleration motion model
constaccjacJacobian for constant-acceleration motion
cameasMeasurement function for constant-acceleration motion
cameasjacJacobian of measurement function for constant-acceleration motion

Singer의 가속도 모델

singerSinger acceleration motion model (R2020b 이후)
singerjacJacobian of Singer acceleration motion model (R2020b 이후)
singermeasMeasurement function for Singer acceleration motion model (R2020b 이후)
singermeasjacJacobian of measurement function for Singer acceleration motion model (R2020b 이후)
singerProcessNoiseProcess noise matrix for Singer acceleration model (R2020b 이후)

등선회율 모델

constturnConstant turn-rate motion model
constturnjacJacobian for constant turn-rate motion
ctmeasMeasurement function for constant turn-rate motion
ctmeasjacJacobian of measurement function for constant turn-rate motion

gmphd에 대한 사각형 객체 모델

ctrectConstant turn-rate rectangular target motion model (R2019b 이후)
ctrectjacJacobian of constant turn-rate rectangular target motion model (R2019b 이후)
ctrectmeasConstant turn-rate rectangular target measurement model (R2019b 이후)
ctrectmeasjacJacobian of constant turn-rate rectangular target measurement model (R2019b 이후)
ctrectcornersCorner measurements of constant turn-rate rectangular target

모션 모델 전환

switchimmModel conversion function for trackingIMM object
trackingFilterTunerTracking filter tuner (R2022b 이후)
tunableFilterPropertiesDefinition of tunable properties of filter (R2022b 이후)

도움말 항목