This block tracks a singletarget detection with a particle or kalman filter. As input values with identifiers 'range' and 'velocity' are needed and should hold a f32vector with only one element. All input variables tagged with std gives the standard deviation of the parameter. The threshold_track is a value which decides with the likelihood of the data if the new data is accepted as a track. A good starting value is threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track is lost and the tracker begins with a new one. The string filter decides which tracking kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen num_particle gives the number of particles for the particle filter. If 'kalman' is chosen there is no effect on the tracker.
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#include <tracking_singletarget.h>
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static sptr | make (int num_particle, float std_range_meas, float std_velocity_meas, float std_accel_sys, float threshold_track, int threshold_lost, std::string filter) |
| Return a shared_ptr to a new instance of radar::tracking_singletarget.
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This block tracks a singletarget detection with a particle or kalman filter. As input values with identifiers 'range' and 'velocity' are needed and should hold a f32vector with only one element. All input variables tagged with std gives the standard deviation of the parameter. The threshold_track is a value which decides with the likelihood of the data if the new data is accepted as a track. A good starting value is threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track is lost and the tracker begins with a new one. The string filter decides which tracking kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen num_particle gives the number of particles for the particle filter. If 'kalman' is chosen there is no effect on the tracker.
- Parameters
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num_particle | Number of particles for particle filter. There is no effect if kalman filter is chosen. |
std_range_meas | Standard deviation of the range measurement |
std_velocity_meas | Standard deviation of the velocity measurement |
std_accel_sys | Standard deviation of the system acceleration |
threshold_track | Value to decide if data is valid for the track |
theshold_lost | Number of false tracks until the current track is lost |
filter | Filter kernel to be used. 'kalman' or 'particle' are valid. |
◆ sptr
◆ make()
static sptr gr::radar::tracking_singletarget::make |
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int |
num_particle, |
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float |
std_range_meas, |
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float |
std_velocity_meas, |
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float |
std_accel_sys, |
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float |
threshold_track, |
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int |
threshold_lost, |
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std::string |
filter |
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static |
The documentation for this class was generated from the following file: