%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)

model_try;
M=7;
vmin=0;
vmax=50;
measurement=[];
mes_total=[];

u1=[-100 -400]';%跟蹤空間左下頂點 
u2=[400  300]';%跟蹤空間右上頂點
arg=0.0002*(500*700);%跟蹤空間內期望虛警數目
target_total=3;%目標個數
x1=[30 3 10 4]';
x2=[20 4 20 3]';
x3=[80 -4 50 -3]';
%x4=[70 -3 40 -3]';
x=[x1 x2 x3];
xyreal=[];
for i=1:M
    noise_process=[];
    noise_mea=[];
    for s=1:target_total
       q=all_q(s).now;
       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;
    xyreal=[xyreal x];
    mes=h*x+noise_mea;
    measurement=[measurement mes];
    
    mf=poissrnd(arg);%
    if mf>25
      % mf=25;%限制雜波數不超過,just for simulation
    end
    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
       measurement=[measurement false_alarm];%產生虛警   錯誤量測在跟蹤門內服從均勻分布
    end
end
save measurement3 measurement;
save mes_total3 mes_total;
save xyreal3 xyreal;