Create constant acceleration alpha-beta tracking filter from detection report
Creating Constant Acceleration trackingABF Object from Detection
Create an objectDetection with a position measurement at x=1, y=3 and a measurement noise of [1 0.2; 0.2 2];
detection = objectDetection(0,[1;3],'MeasurementNoise',[1 0.2;0.2 2]);
initccabf to create a
trackingABF filter initialized at the provided position and using the measurement noise defined above.
ABF = initcaabf(detection);
Check the values of the state and measurement noise. Verify that the filter state,
ABF.State, has the same position components as the
Detection.Measurement. Verify that the filter measurement noise,
ABF.MeasurementNoise, is the same as the
ans = 6×1 1 0 0 3 0 0
ans = 2×2 1.0000 0.2000 0.2000 2.0000
The function computes the process noise matrix assuming a unit standard deviation for the acceleration change rate.
You can use this function as the
FilterInitializationFcnproperty of trackers.