考虑雨衰 阴影 和多径影响，Relief计算分类权重，有详细的注释，多目标跟踪的粒子滤波器，matlab开发工具箱中的支持向量机。- Consider shadow rain attenuation and multipath effects Relief computing classification weight, There are detailed notes, Multi-target tracking particle filter, matlab development toolbox support vector machine.