function [currentjob,jobq] = getCurrentRadarTask(jobq,current_time) searchq = jobq. searchqueue;trackq = jobq.TrackQueue;searchidx = jobq.SearchIndex;num_trackq_items = jobq.NumTrackJobs;%更新搜索队列索引searchqidx = mod(searchidx-1,numel(searchq))+1;readyidx = Find ([trackq(1:num_trackq_items).Time]<=current_time);[~, maxpidx] = max ([trackq (readyidx) .Priority]);taskqidx = readyidx (maxpidx);如果找到的跟踪工作有更高的优先级，将其作为当前工作，并增加下一个搜索工作的优先级，因为它被推迟了。否则，下一个搜索任务就是当前的工作。 if ~isempty(taskqidx) % && trackq(taskqidx).Priority >= searchq(searchqidx).Priority currentjob = trackq(taskqidx); for m = taskqidx+1:num_trackq_items trackq(m-1) = trackq(m); end num_trackq_items = num_trackq_items-1; searchq(searchqidx).Priority = searchq(searchqidx).Priority+100; else currentjob = searchq(searchqidx); searchidx = searchqidx+1; end jobq.SearchQueue = searchq; jobq.SearchIndex = searchidx; jobq.TrackQueue = trackq; jobq.NumTrackJobs = num_trackq_items;

函数分配类型=helperAdaptiveTrackingSim（scenario，thp，rax，tracker，resetJobQ，ManagerReferences）%Initialize variables雷达=scenario.Platforms{end}.Sensors{1}；updateRate=radar.updateRate；resourceAllocation=nan（1，updateRate）；h=直方图（rax，resourceAllocation，'BinMethod'，'integers'）；xlabel（h.Parent，'TrackID'）标签（h.Parent，'Num beams'）；numSteps=updateRate*185；allocationType=nan（1，numSteps）；currentStep=1；重新启动（场景）；重置（跟踪器）；%返回jobq-jobq=resetJobQ的重置状态；%绘图仪和轴plp=thp.绘图仪（1）；dtp=thp.绘图仪（3）；cvp=thp.绘图仪（4）；trp=thp.绘图仪（5）；%对于可重复的结果，设置随机种子并在完成时恢复它s=rng（2020）；oc=onCleanup（@（）rng（s））；%Main loop tracks={}；而advance（scenario）time=scenario.SimulationTime；%Update ground truth display poses=platformPoses（scenario）；plotPlatform（plp，重塑（[poses.Position]，3，[]））；%根据调度程序当前作业指向雷达[currentJob，jobq]=getCurrentRadarTask（jobq，time）；currentStep=currentStep+1；如果currentStep>updateRate resourceAllocation（1:end-1）=resourceAllocation（2:updateRate）；如果strcmpi（currentJob.JobType，'Search'）detectableTracks=0（0,1，'uint32'）；resourceAllocation（最小值）([currentStep，updateRate]）=0；allocationType（currentStep）=1；cvp.Color=[0 0 1]；else detectableTracks=currentJob.TrackID；resourceAllocation（min（[currentStep，updateRate]）=currentJob.TrackID；cvp.Color=[1 0 1]；如果strcmpi（currentJob.JobType，'Confirm'）allocationType（currentStep）=2；else allocationType（currentStep）=3；end-end-ra=resourceAllocation（~isnan（resourceAllocation））；h.Data=ra；h.Parent.YLim=[0 updateRate]；h.Parent.XTick=0:max（ra）；radar.LookAngle=currentJob.BeamDirection；plotCoverage（cvp，coverageConfig（scenario））；%收集检测并绘制它们检测=检测（scenario）；如果isempty（检测）meas=0（0,3）；否则检测=[deg2rad（meassph（1）），deg2rad（meassph（1）），deg2rad（meassph（2）），meassph（3））；meas=（Deg1}.测量参数.方向*[x；y；z]+检测{1}.测量参数.起始位置]；末端检测（dtp，meas）；%轨道和绘图轨道（如果锁定）（跟踪器）|检测[confirmedTracks，tentivetracks，~，analysisInformation]=跟踪器（检测，时间，可检测轨迹）；pos=getTrackPositions（confirmedTracks，jobq.PositionSelector）；plotTrack（trp，pos，字符串（[confirmedTracks.TrackID]））；tracks.confirmedTracks=confirmedTracks；tracks.tentivetracks=tentivetracks；tracks.analysisInformation=analysisInformation；tracks.PositionSelector=jobq.PositionSelector；end%管理下一个作业的资源jobq=manageResource（检测、作业、跟踪器、跟踪、当前作业、时间、管理者参考）；end

函数imm = initMPARIMM(检测)cvekf = initcvekf(检测);cvekf.StateCovariance (2, 2) = 1 e6;cvekf.StateCovariance (4, 4) = 1 e6;cvekf.StateCovariance (6,6) = 1 e6;ctekf = initctekf(检测);ctekf.StateCovariance (2, 2) = 1 e6;ctekf.StateCovariance (4, 4) = 1 e6;ctekf.StateCovariance (7) = 1 e6;ctekf.ProcessNoise (3) = 1 e6;%大噪声未知角加速度imm = trackingIMM('TrackingFilters'， {cvekf;ctekf}， ' transitionprobability '， [0.99, 0.99]);

函数jobq = manageResource(detectionjobq,tracker,tracks,current_job,current_time,managerPreferences) trackq = jobq. trackqueue;num_trackq_items = jobq.NumTrackJobs;如果~为空(检测)检测=检测{1};Else检测= [];end %执行当前任务开关current_job。工作类型case 'Search' % For search job, if there is a detection, establish tentative % track and schedule a confirmation job if ~isempty(detection) % A search task can still find a track we already have. Define % a confirmation task only if it's a tentative track. There % could be more than one if there are false alarms. Create % confirm jobs for tentative tracks created at this update. numTentative = numel(tracks.tentativeTracks); for i = 1:numTentative if tracks.tentativeTracks(i).Age == 1 && tracks.tentativeTracks(i).IsCoasted == 0 trackid = tracks.tentativeTracks(i).TrackID; job = revisitTrackJob(tracker, trackid, current_time, managerPreferences, 'Confirm', tracks.PositionSelector); num_trackq_items = num_trackq_items+1; trackq(num_trackq_items) = job; end end end case 'Confirm' % For a confirm job, if the track ID is within the tentative % tracks, it means that we need to run another confirmation job % regardless of having a detection. If the track ID is within the % confirmed tracks, it means that we must have gotten a detection, % and the track passed the confirmation logic test. In this case we % need to schedule a track revisit job. trackid = current_job.TrackID; tentativeTrackIDs = [tracks.tentativeTracks.TrackID]; confirmedTrackIDs = [tracks.confirmedTracks.TrackID]; if any(trackid == tentativeTrackIDs) job = revisitTrackJob(tracker, trackid, current_time, managerPreferences, 'Confirm', tracks.PositionSelector); num_trackq_items = num_trackq_items+1; trackq(num_trackq_items) = job; elseif any(trackid == confirmedTrackIDs) job = revisitTrackJob(tracker, trackid, current_time, managerPreferences, 'TrackNonManeuvering', tracks.PositionSelector); num_trackq_items = num_trackq_items+1; trackq(num_trackq_items) = job; end otherwise % Covers both types of track jobs % For track job, if the track hasn't been dropped, update the track % and schedule a track job corresponding to the revisit time % regardless of having a detection. In the case when there is no % detection, we could also predict and schedule a track job sooner % so the target is not lost. This would require defining another % job type to control the revisit rate for this case. trackid = current_job.TrackID; confirmedTrackIDs = [tracks.confirmedTracks.TrackID]; if any(trackid == confirmedTrackIDs) jobType = 'TrackNonManeuvering'; mdlProbs = getTrackFilterProperties(tracker, trackid, 'ModelProbabilities'); if mdlProbs{1}(2) > 0.6 jobType = 'TrackManeuvering'; end job = revisitTrackJob(tracker, trackid, current_time, managerPreferences, jobType, tracks.PositionSelector); num_trackq_items = num_trackq_items+1; trackq(num_trackq_items) = job; end end jobq.TrackQueue = trackq; jobq.NumTrackJobs = num_trackq_items; end function job = revisitTrackJob(tracker, trackID, currentTime, managerPreferences, jobType, positionSelector) types = [managerPreferences.Type]; inTypes = strcmpi(jobType,types); revisitTime = 1/managerPreferences(inTypes).RevisitRate + currentTime; predictedTrack = predictTracksToTime(tracker,trackID,revisitTime); xpred = getTrackPositions(predictedTrack,positionSelector); [phipred,thetapred,rpred] = cart2sph(xpred(1),xpred(2),xpred(3)); job = struct('JobType',jobType,'Priority',managerPreferences(inTypes).Priority,... 'BeamDirection',rad2deg([phipred thetapred]),'WaveformIndex',1,'Time',revisitTime,... 'Range',rpred,'TrackID',trackID); end