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initctrectgmphd

Create constant turn-rate rectangular target gmphd filter

Description

phd = initctrectgmphd initializes a constant turn-rate rectangular target gmphd filter with zero components in the filter.

example

phd = initctrectgmphd(detections) initializes a constant turn-rate rectangular target gmphd filter based on information provided in object detections, detections. The function initializes a constant turn-rate rectangular state with the same convention as ctrect and ctrectmeas, [x; y; s; θ; ω; L; W]. See Algorithms for the meaning of these variables.

.

Note

This initialization function is not compatible with trackerGNN, trackerJPDA, and trackerTOMHT System objects.

Examples

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Load detections generated by a rectangular target and the corresponding truth.

load ('rectangularTargetDetections','detections','truthState');

Initialize the filter using detections.

phd = initctrectgmphd(detections);

Display the estimated state and the truth state.

estState = phd.States
estState = 7×1

   -0.0688
   49.2233
         0
         0
         0
    3.3942
    0.9871

truthState
truthState = 7×1

         0
   50.0000
         0
   30.0000
         0
    4.7000
    1.8000

Input Arguments

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Object detections, specified as a cell array of objectDetection objects. You can create detections directly, or you can obtain detections from the outputs of sensor objects, such as radarSensor, monostaticRadarSensor, irSensor, and sonarSensor.

Example: detection = objectDetection(0,[1;4.5;3],'MeasurementNoise',[1.0 0 0; 0 2.0 0; 0 0 1.5])

Output Arguments

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Gaussian mixture PHD filter, returned as a gmphd object.

Algorithms

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Initialization Process

  • You can use initctrectgmphd as the FilterInitializationFcn property of trackingSensorConfiguration.

  • When detections are provided as input, the function adds one component to the density, which reflects the mean of the detections. When the function is called without any inputs, a filter is initialized with no components in the density.

  • The function uses the spread of measurements to specify the length and width of the rectangle.

  • The function configures the process noise of the filter by assuming a unit acceleration and a unit yaw-acceleration standard deviation.

  • The function specifies a maximum of 500 components in the filter.

  • The function configures the covariance of the state using a unit covariance in observed dimensions.

Rectangular Target State

The rectangular target state contains [x; y; s;θ; ω; L; W]:

VariableMeaning Unit
x

Position of the rectangle center in x direction

m
y

Position of the rectangle center in y direction

m
s

Speed in the heading direction

m/s
θ

Orientation angle of the rectangle with respect to x direction

degree
ω

Turn-rate

degree/s
L

Length of the rectangle

m
W

Width of the rectangle

m

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2019b