ctrectmeasjac

Jacobian of measurement function for constant turn-rate motion model for rectangular targets

Syntax

measurementJac = ctrectmeasjac(state,detections)

Description

measurementJac = ctrectmeasjac(state,detections) returns the Jacobian of the measurement function measurementJac based on the current rectangular target state and detections.

Examples

Generate Jacobian for Rectangular Target Model

Load detections generated from a rectangular target.

load('rectangularTargetDetections.mat','detections');

Calculate Jacobian based on the rectangular state of the target and detections.

tgtState = [3;48;0;60;0;5;1.9];
jac = ctrectmeasjac(tgtState,detections);
jac1 = jac(:,:,1)

jac1 = 3×7

    1.0000         0         0    0.0461         0   -0.2500    0.4330
         0    1.0000         0   -0.0075         0   -0.4330   -0.2500
         0         0         0         0         0         0         0

Input Arguments

state — Current rectangular target state

7-by-1 real-valued vector

Current rectangular target state, specified as a 7-by-1 real-valued vector. The seven dimensional rectangular target state is defined as [x; y; s; θ; ω; L; W]. The meaning of these variables and their units are:

Variable	Meaning	Unit
x	Position of the rectangle center in x direction	m
y	Position of the rectangle center in y direction	m
s	Speed in the heading direction	m/s
θ	Orientation angle of the rectangle with respect to x direction	degree
ω	Turn-rate	degree/s
L	Length of the rectangle	m
W	Width of the rectangle	m

Example: [1;2;2;30;1;4.7;1.8]

Data Types: single | double

detections — Detections of target

1-by-M cell array of objectDetection objects

Detections of target, specified as a 1-by-M cell array of objectDetection objects. The MeasurementParameters property (that specifies the transformation from the state-space to measurement-space) for each object must be the same for all the detections in the cell array.

Output Arguments

measurementJac — Jacobian of measurement model

M-by-7-by-D real-valued array

Jacobian of the measurement model, returned as a M-by-7-by-D real-valued array. M is the dimension of each measurement specified in detections, and D is the number of detections specified in the detections input.

References

[1] Granström, Karl, et al. “Tracking Rectangular and Elliptical Extended Targets Using Laser Measurements.” 14th International Conference on Information Fusion, 2011, pp. 1–8. IEEE Xplore

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b