% for Radar conference paper, using x1p.m

clf

subplot(2,2,1);

plot( xy1_orig(1,:), xy1_orig(2,:), 'k-');
hold on;
plot( XY(1,:), XY(2,:), 'kx');
for i=1:N
  if( n1(i) == 1)
    plot( XY(1,1+XY_offset(i)), XY(2,1+XY_offset(i)), 'ko');
  end
end
axis([0 4 0 4]);
xlabel 'X';
ylabel 'Y'
title '(a) True Track and Measurements';

subplot(2,2,2);

merge_period = HUGE_VAL;

L=1; vit; get_kxv;
plot( ans(:,1), ans(:,3), 'k:');
hold on;
L=4; vit; get_kxv;
plot( ans(:,1), ans(:,3), 'k-.');
L=8; vit; get_kxv;
plot( ans(:,1), ans(:,3), 'k--');
merge_period = 4;
L=4; vit; get_kxv;
plot( ans(:,1), ans(:,3), 'k-');

axis([0 4 0 4]);
xlabel 'X';
ylabel 'Y'
title '(b) Estimated Track';

text(1.25,3.5,'L=1')
text(2.8,3.5,'L=4')
text(2.5,2.45,'L=8')
text(2.5,2.1,'L=4, merge=4')
