chức năng khối lượng xác suất, và tính toán tích phân và khác biệt. Phần này cho thấy làm thế nào các khái niệm này với nhau để sản xuất một khái quát trực tiếp các số liệu thống kê bình thường để thống kê multitarget. | - - . s a p s a-Ệ 7 s a Ị s sum rule 8Zl 1H1V 2H2V J 1 SZ 2 SZ p s p2 s SP- 5 P2 s Pi s Sp2 s uz Jz jL - p. s P7 s l - pi s z y s product rules SZ A J Z-iSWy S Z-W p w c z Sz f p1 s --- p s ỉ r p1 s - pn s r s chain rule jZ x Jz i 1 i FISST Multisource-Multitarget Statistics Thus far this chapter has described the multisensor-multitarget analogs of measurement and motion models probability mass functions and the integral and differential calculus. This section shows how these concepts join together to produce a direct generalization of ordinary statistics to multitarget statistics. Section illustrates how true multitarget likelihood functions can be constructed from multitarget measurement models using the turn-the-crank rules of the FISST calculus. Section shows how to similarly construct true multitarget Markov densities from multitarget motion models. The concepts of multitarget prior distribution and multitarget posterior distribution are introduced in Sections and . The failure of the classical Bayes-optimal state estimators in multitarget situations is described in Section . The solution of this problem the proper definition and verification of Bayes-optimal multitarget state estimators is described in Section . The remaining two subsections summarize a Cramér-Rao performance bound for vector-valued multitarget state estimators and a multitarget miss distance. Constructing True Multitarget Likelihood Functions Let us apply the turn-the-crank formulas of Subsection to the belief-mass function p S X p s xj p s x2 corresponding to the measurement model 2 Zj Z2 of Equation where X xp x2 . We get S -jS-p sX - p sx p sx 2 uz uz uz Sp s X1 p s x 2 p slX1 Sp sx 2 f z1 X1 p s x 2 p s x1 f z1 Ix 2 S2p Sz 2Szj slX sS Sp slX f z1 x hrp slx2 ãTp slx f z lx2 1 Sz2 SZj 1 I I Sz2 w I Sz2 I f z I x- f z 21x 2 f z 21 x1 f z11x 2 s X A Sz3Sz2 1 Sz3 S2p Sz 2Sz3 slX 0 2001 CRC Press LLC III Systems Engineering and .
