目标跟踪的仿真程序，多目标多目标数据融合-Target tracking simulation program, multi-target multi-target data fusion

用CPHD的方法实现多目标跟踪，及对CPHD性能的检测。-With CPHD method to achieve multi-target tracking, and performance testing for CPHD.

这个函数用于多目标跟踪数据关联，结合了最近邻数据关联个CJPDA数据关联算法，每个目标分配最多一个量测-This function is used for multi-target tracking data association, combined with nearest neighbor data association a CJPDA data association algorithm, each target allocation up to a measurement