中文说明：基于当前模型的目标状态跟踪，仿真参数与场景依据《粒子滤波原理》，另附交互式多模型目标运动跟踪，依据《Kalman滤波原理与应用matlab仿真》提供代码，对代码进行了优化和注释。仿真顺利通过。
English Description：
Based on the target state tracking of the current model, the simulation parameters and scene are based on the principle of particle filter, and the interactive multi model target motion tracking is attached. The code is provided according to the principle of Kalman filter and MATLAB simulation, and the code is optimized and annotated. The simulation passed smoothly.