Update to version 6.0

Author: David Crouse

Assignment_Algorithms/2D_Assignment/Game_Theoretic_Assignment/assignStableRoommates.m

@@ -195,7 +195,7 @@
 
             if(ranking(nextChoice,person)<=rightmost(nextChoice))
                break;
-            end; 
+            end
         end
 
         second(person)=posInList-1;

Assignment_Algorithms/2D_Cost_Matrix_Formation/makeStandardCartOnlyLRMatHyps.m

@@ -232,7 +232,7 @@
         innov=zCart(:,curMeas)-zPred;
 
         Pzz=PzPred+(SRCart(:,:,curMeas)*SRCart(:,:,curMeas)');
-        mahabDist=innov'*inv(Pzz)*innov;
+        mahabDist=innov'*(Pzz\innov);
         if(mahabDist>gammaVal)
             %If it does not gate, then assign a zero likelihood ratio.
             A(curTar,curMeas)=0;

Assignment_Algorithms/Association_Probabilities_and_Specific_Updates/calc2DAssignmentProbsApprox.m

@@ -30,6 +30,9 @@
 %          5 The matrix permanent approximation algorithm of [4], which
 %            uses the permUBound function to approximate the permanent.
 %            This tends to be rather slow.
+%          6 Just compute the values for each target as if it were the only
+%            target present. Thus, as if one were running independent
+%            PDAFs.
 % diagAugment A boolean variable indicating whether the probabilties
 %          should be found for a general assignment problem or assuming A
 %          ends with a diagonal submatrix of missed detection
@@ -218,6 +221,11 @@
     case 5%Uhlmann's algorithm using approximate matrix permanents.
         permFun=@(A)permUBound(A,delta);
         beta=UhlmannsAlg(A,diagAugment,permFun);
+    case 6
+        for curTar=1:numTar
+            ACur=[A(curTar,1:numMeas),A(curTar,numMeas+curTar)];
+            beta(curTar,:)=calc2DAssignmentProbs(ACur,true);
+        end
     otherwise
         error('Invalid Approximation Specified')
 end

Assignment_Algorithms/Association_Probabilities_and_Specific_Updates/calcStarBetasBF.m

@@ -89,6 +89,7 @@
                 if(obsTarIdx<=numTargetsObserved&&obsTar(obsTarIdx)+1==curTar)
                     %A target observed hypothesis for this target.
                     measSel=tarMeas(maxLikeIdx(obsTarIdx))+1;
+
                     beta(curTar,measSel)=beta(curTar,measSel)+maxLike;
                     obsTarIdx=obsTarIdx+1;
                 else

Assignment_Algorithms/singleScanUpdateWithExistence.m

@@ -1,4 +1,4 @@
-function [xUpdate,PUpdate,rUpdate,probNonTargetMeas]=singleScanUpdateWithExistence(xHyp,PHyp,PD,rPred,A,algSel1,algSel2,param3)
+function [xUpdate,PUpdate,rUpdate,probNonTargetMeas,dominantMeasIdx]=singleScanUpdateWithExistence(xHyp,PHyp,PD,rPred,A,algSel1,algSel2,param3)
 %%SINGLESCANUPDATEWITHEXISTENCE Perform the measurement update step in a
 %                  single-scan tracking algorithm that uses Gaussian  
 %                  approximations to represent the target state before and
@@ -32,7 +32,7 @@
 %        rPred A numTarX1 vector of the predicted probabilities of target
 %              existence.
 %           A  A matrix of positive likelihoods or likelihood ratios (NOT
-%              log-likelihood ratios). A is a numTar X (numMeas+numTar)
+%              log-likelihood ratios). A is a numTarX(numMeas+numTar)
 %              matrix of all-positive likelihoods or likelihood ratios for
 %              assigning the target specified by the row to the measurement
 %              specified by the column. Columns > numMeas hold
@@ -82,6 +82,12 @@
 % probNonTargetMeas A numMeasX1 set of posterior probabilities that the
 %                 measurements do not come from any of the known targets.
 %                 These probabilities play a role in track initiation.
+% dominantMeasIdx A numTarX1 vector which indicates the index of the
+%                 dominant measurement updating each target. Zero is used
+%                 for the missed detection hypothesis. For hard assignment
+%                 algorithms, this is the measurement assigned. For soft
+%                 assignment algorithms, this is the highest probability
+%                 measurement for each target.
 %
 %This function basically implements the measurement update step for the
 %JIPDAF (and related filters), updating the known targets, their existence
@@ -185,7 +191,7 @@
     end
 end
 
-if(nargin==5||isempty(algSel2))%If only algSel2 was omitted.
+if(nargin==6||isempty(algSel2))%If only algSel2 was omitted.
     algSel2=0;
 end
 
@@ -232,6 +238,8 @@
     for curTar=1:numTar
         logLikes(curTar)=ALog(curTar,tar2Meas(curTar));
     end
+    dominantMeasIdx=tar2Meas;
+    dominantMeasIdx(dominantMeasIdx>numMeas)=0;
 
     %Adjust for the index of the missed detection hypothesis.
     sel=tar2Meas>numMeas;
@@ -254,12 +262,15 @@
                    %in place of the mean.
     %The assignment for each target
     logLikes=zeros(numTar,1);
+    dominantMeasIdx=zeros(numTar,1);
     for curTar=1:numTar
         [maxVal,maxIdx]=max(A(curTar,:));
-
         %If the missed detection hypothesis is the most likely.
         if(maxIdx>numMeas)
+            dominantMeasIdx(curTar)=0;
             maxIdx=numMeas+1;
+        else
+            dominantMeasIdx(curTar)=maxIdx;
         end
 
         xUpdate(:,curTar)=xHyp(:,curTar,maxIdx);
@@ -281,6 +292,9 @@
         P=reshape(PHyp(:,:,curTar,:),[xDim,xDim,numHyp]);
         [xUpdate(:,curTar),PUpdate(:,:,curTar)]=calcMixtureMoments(x,betas(curTar,:),P);
     end
+
+    [~,dominantMeasIdx]=max(betas,[],2);
+    dominantMeasIdx(dominantMeasIdx>numMeas)=0;
 end
 end
 

Astronomical_Code/EGM08EarthAccel.m

@@ -267,7 +267,6 @@
 
 if(effectsToInclude(5)~=false)
     [deltaC{curDelta},deltaS{curDelta}]=gravOceanTideOffset(TT1,TT2);
-    curDelta=curDelta+1;
 end
 
 %Find out the total number of coefficients in C and S that need to be

Astronomical_Code/Ephemeris_Access/data/linux_p1550p2650.430t

@@ -56,9 +56,9 @@
 % ephemerisPath This is a character string of the path to the ephemeris
 %             file. The formatting is the same as used by the fopen
 %             function. If this parameter is omitted or an empty matrix is
-%             passed, it is assumed that the DE430t ephemeris is given in a
+%             passed, it is assumed that the DE440t ephemeris is given in a
 %             data folder that is in the same folder as this function and
-%             the file is named linux_p1550p2650.430t.
+%             the file is named linux_p1550p2650.440t.
 %
 %OUTPUTS: PV If The relative location and velocity between two solar system
 %            objects is requested, then this is a 6X1 vector in the format
@@ -67,18 +67,14 @@
 %            units depend on the units input.
 %
 %Ephemerides that can be read by this function can be downloaded from
-%ftp://ssd.jpl.nasa.gov/pub/eph/planets/Linux
-%Only the binary file is needed. For example, when considering the DE430
-%ephemerides, the file that should be used is called linux_p1550p2650.430.
-%Accompanying files that are not needed include testpo.430 and
-%header.430_572. The file header.430_572 is an ASCII test version of the
-%header and testpo.430 is an ASCII text file containing parameters related
-%to testing the algorithm.
+%https://ssd.jpl.nasa.gov/ftp/eph/planets/Linux/
+%Only the binary file is needed. For example, when considering the DE440t
+%ephemerides, the file that should be used is called linux_p1550p2650.440t.
 %
 %This file is loosely based on the Fortran routine called testeph1.f that
 %was created by the California Institute of Technology (CIT) under a U.S.
 %government contract with NASA and is available for download in the folder
-%ftp://ssd.jpl.nasa.gov/pub/eph/planets/
+%https://ssd.jpl.nasa.gov/ftp/eph/planets/fortran/
 %
 %EXAMPLE:
 %Find the position and velocity of the Earth with respect to the Sun with
@@ -107,7 +103,7 @@
 %Get the path to this file.
     ScriptPath=mfilename('fullpath');
     ScriptFolder=fileparts(ScriptPath);
-    ephemerisPath=[ScriptFolder,'/data/linux_p1550p2650.430t'];
+    ephemerisPath=[ScriptFolder,'/data/linux_p1550p2650.440t'];
 end
 
 if(nargin<5||isempty(units))
@@ -139,6 +135,7 @@
 %%%Read the header information of the ephemerides.
 %%%%%
 [~,~,kSize,ss,ipt,au_km,EarthMoonRatio]=readJPLEphemHeader(ephemerisPath);
+
 %The number of Chebyshev coefficients per record.
 numCoeffs=kSize/2;
 
@@ -320,7 +317,7 @@
 end
 
 %%%%
-%%Consider lookups for ceklestial bodies, which use the centerNumber input.
+%%Consider lookups for celestial bodies, which use the centerNumber input.
 %%%%
 
 %If the object is the Moon and the center is the Earth