MHTTrackScoreKinematic:

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   Kinematic track score.

   This is the likelihood ratio for the kinematics

   Assumes a Gaussian distribution for false returns.

   Type MHTTrackScoreKinematic for a demo with a decreasing covariance
   matrix for a 1D problem and a fixed residual error.
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   Form:
   lR = MHTTrackScoreKinematic( y, h, r, p, v )
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   ------
   Inputs
   ------
   y         (m,1) Measurement residual vector
   h         (m,n) Measurement matrix
   r         (m,m) Measurement covariance matrix
   p         (n,n) Covariance matrix
   pD        (1,1) Probability of detection on 1 scan

   -------
   Outputs
   -------
   lR        (1,1) Likelihood ratio

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   Reference: Blackman, S. and R. Popoli, "Design and Analysis of  Modern
              Tracking Systems," Artech House, 1999.
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Children:

Common: Graphics/Plot2D