%用于航跡起始測試程序(模擬產生用于航跡起始的多目標量測信息) 

jpda_parameter;

target_total=2;%目標個數
x1=[10 3 0 50 -2 0]';%格式[x vx ax y vy ay]'
x2=[30 -4 0 20 3 0]';
x=[x1 x2];

all_mes=[];
all_mes_total=[];
all_x=[];
for i=1:100
    noise_process=[];
    noise_mea=[];
    for s=1:target_total
       temp=normrnd([0 0]',diag(q));
       temp1=normrnd([0 0]',diag(r));
       noise_process=[noise_process temp];
       noise_mea=[noise_mea temp1];
    end
    x=fai*x+g*noise_process;
    all_x=[all_x x];
    mes=h*x+noise_mea;
    all_mes=[all_mes mes];
    
    mf=poissrnd(arg);%
    if mf>20
       mf=20;%限制雜波數不超過,just for simulation
    end
    all_mes_total(i)=mf+target_total;
    for j=1:mf
       false_alarm=unifrnd(u1,u2); %在監視空域內產生服從均勻分布的虛警
       all_mes=[all_mes false_alarm];%產生虛警   錯誤量測在跟蹤門內服從均勻分布
    end
end
save all_mes all_mes;
save all_mes_total all_mes_total;
save all_x all_x;