Introduction to Track Logic

        探测有可能是一个新的track，也有可能是误探测。Track如果没有被匹配，需要coast到删除。

        所以如何confirm新的track，如何delete旧的track？

        两种方法：

        1、History-based: 如果长时间被跟踪到就confirm，如果长时间丢失就delete。

        This type of logic is often referred to as M-out-of-N or Last-N, meaning that out of Nupdates, the track must be detected at least _M _ times for it to be confirmed.

        2、Score-based： we use the score, defined as the log of the likelihood，如果score低于阈值就delete，大于阈值就confirm。

        

例子：history-based

        You want to confirm a track after 3 detections in 5 updates (3-out-of-5), and delete it after 6 consecutive misses.

        确认跟踪逻辑： 

        删除跟踪逻辑：

 

 例子：Score-based

scoreLogic = trackScoreLogic('ConfirmationThreshold', 25, 'DeletionThreshold', -5)

        1、ConfirmationThreshold  = 25， DeletionThreshold = -5 。

         2、上图是探测的每次结果，总共9次探测， Score先上升（第4次的时候下降了），上到25的时候，confirm。然后下降，当下降到MaxScore-5的时候，delete。下图阐释了算法的逻辑。 

        3、难点是如何计算score？

        There is also a need to know how likely the detection is that of a real target, based on its detection probability, or how likely it is to be false, based on its false alarm rate. Additionally, if the track is new, you need to account for the rate, beta , at which new targets are likely to be detected in a unit volume.

        这里没看懂？？？

pd = 0.9;   % Probability of detection
pfa = 1e-6; % Probability of false alarm
volume = 1; % The volume of a sensor detection bin
beta = 0.1; % New target rate in a unit volume
wasInitialized = false; % Has the object been initialized yet?