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Correct state and state estimation error covariance using JPDA

`[x_corr,P_corr] = correctjpda(filterObj,z,jp)`

`[x_corr,P_corr] = correctjpda(filterObj,z,jp,varargin)`

`[x_corr,P_corr] = correctjpda(filterObj,z,jp,zcov)`

`[x_corr,P_corr,z_corr] = correctjpda(filterObj,z,jp)`

`[`

returns the correction of state, `x_corr`

,`P_corr`

] = correctjpda(`filterObj`

,`z`

,`jp`

)`x_corr`

, and state estimate error
covariance, `P_corr`

, using a set of measurements `z`

and their joint probabilistic data association coefficients `jp`

. This
syntax supports a filter object, `filterObj`

, created by `trackingKF`

, `trackingEKF`

, `trackingMSCEKF`

,`trackingUKF`

, `trackingABF`

,
`trackingCKF`

,
`trackingGSF`

,
`trackingPF`

,or
`trackingIMM`

.

`[`

specifies additional parameters used by the measurement function defined in the
`x_corr`

,`P_corr`

] = correctjpda(`filterObj`

,`z`

,`jp`

,`varargin`

)`MeasurementFcn`

property of the tracking filter object. This syntax
supports a filter object, `filterObj`

, created by `trackingEKF`

, `trackingMSCEKF`

,`trackingUKF`

, `trackingCKF`

,
`trackingGSF`

,
`trackingPF`

, or
`trackingIMM`

.

`[`

specifies additional measurement covariance `x_corr`

,`P_corr`

] = correctjpda(`filterObj`

,`z`

,`jp`

,`zcov`

)`zcov`

used in the
`MeasuremetNoise`

property of a `trackingKF`

filter object. This syntax only supports a filter object,
`filterObj`

, created by `trackingKF`

.

[1] Fortmann, T., Y. Bar-Shalom, and
M. Scheffe. "Sonar Tracking of Multiple Targets Using Joint Probabilistic Data Association."
*IEEE Journal of Ocean Engineering.* Vol. 8, Number 3, 1983, pp. 173
—184.

`trackerJPDA`

| `trackingABF`

| `trackingCKF`

| `trackingEKF`

| `trackingGSF`

| `trackingIMM`

| `trackingKF`

| `trackingMSCEKF`

| `trackingPF`

| `trackingUKF`