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雷达目标追踪的建模

点云中每个点是目标

点的坐标（X，Y，Z）是相对于空间的原点的。
点的速度（Velocity）是以点为中心的，而且设备没有能力观测速度。
点的运动方向也是以点为中心的，它也是设备无法观测的。

输入是离散的点云

第n次输入点云与第n+1次输入点云是独立无关的

模型

目标状态（X，Y，Z）目标状态（速度，方位）
控制模型（速度，方位）控制模型（速度变化，方位变化）
系统模型，每次输入更新控制模型
观测状态（X，Y，Z）
观测模型，将输入与上一次输入近邻点云计算

Kalman模型

上述模型的数据之间存在正确的转换关系，这是设计的关键

QT的插件模型

这一块工作可以来自杨的工作

目标ID复用

目标消失后可能再出现，也可能不会出现。
前者，然后目标的ID不变（ID复用）。
但是后者，ID怎么知道目标消失了呢？

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