Grid Filter Homework

1. Step through the MATLAB code for the grid filter.  Ignore most of the graphing stuff, but pay attention to the way that observations are made.  Discuss how the observation model relates to the likelihood in Bayes rule.
2. Try at least five different combinations of the FalseAlarm and TrueHit parameters.  What happens as the TrueHit value is lowered and why?  What happens when the FalseAlarm parameter is lowered and why?  What happens if FalseAlarm=0 and TrueHit=1, and why?