Table 2 Algorithm 2
From: A general cardinalized probability hypothesis density filter
The derivation process of the corrector the general CPHD filter | |
|---|---|
1. Derive the PGFL according to (15) | |
2. Calculate the functional derivative | |
(1) Calculate the functional derivative of \(G\left[ hT[g] \right]\) by using GCR | |
(2) Calculate the functional derivative of \(F\left[ g,h \right]\) by using the product rule | |
(3) The functional derivative is shown in (21) | |
3. Calculate the posterior PGFL | |
(1) Calculate \(\frac{\delta }{{\delta {Z_k}}}F[0,h]\) | |
(2) Calculate \(\frac{\delta }{{\delta {Z_k}}}F[0,1]\) | |
(3) The functional derivative is shown in (25) | |
4. Calculate the posterior parameters of the filter | |
(1) Calculate the posterior cardinality distribution \({{p}_{k|k}}(n)\) | |
(2) Calculate the posterior PHD\({{D}_{k|k}}({\mathbf {x}})\) |