RBMCDAbox - Matlab Toolbox of Rao-Blackwellized Data Association Particle Filters In this paper we present a documentation for Matlab toolbox consisting of Rao-Blackwellized particle filtering based algorithms, which can be used in solving data association problems frequently occuring in the context of multiple target tracking. 含说明文档，英文版的 需要和EKF/UKF工具箱同时使用，该工具箱调用了EKF/UKF的函数。