retroCorrectJPDA
Syntax
Description
The retroCorrectJPDA
function corrects the state estimate and
covariance of a tracking filter using out-of-sequence measurements (OOSMs) based on a joint
probabilistic data association (JPDA) algorithm. To use this function, you must specify the
MaxNumOOSMSteps
property of the filter
as a
positive integer. Before using this function, you must use the retrodict
function to successfully retrodict the current state of the filter to the time at which the
OOSMs were taken.
[
corrects the retroCorrState
,retroCorrCov
] = retroCorrectJPDA(filter
,z
,jpdacoeffs
)filter
using the OOSM measurements z
and its corresponding joint probabilistic data association coefficients
jpdacoeffs
. The function returns the corrected state and state
covariance. The function changes the values of the State
and
StateCovariance
properties of the filter object to
retroCorrState
and retroCorrCov
, respectively.
If the filter
is a trackingIMM
object, the function also changes the ModelProbabilities
property of
the filter
.
[___] = retroCorrectJPDA(___,
specifies the measurement parameters for the out-of-sequence measurements
measparams
)z
, in addition to all arguments from the previous syntax.
Note
You can use this syntax only when filter
is a trackingEKF
or trackingIMM
object.
Examples
Input Arguments
Output Arguments
More About
References
[1] Bar-Shalom, Y., Huimin Chen, and M. Mallick. “One-Step Solution for the Multistep out-of-Sequence-Measurement Problem in Tracking.” IEEE Transactions on Aerospace and Electronic Systems 40, no. 1 (January 2004): 27–37.
[2] Muntzinger, Marc M., et al. “Tracking in a Cluttered Environment with Out-of-Sequence Measurements.” 2009 IEEE International Conference on Vehicular Electronics and Safety (ICVES), IEEE, 2009, pp. 56–61.
Extended Capabilities
Version History
Introduced in R2022a
See Also
retrodict
| trackingKF
| trackingEKF
| trackingIMM
| objectDetectionDelay
| trackerJPDA