# singermeasjac

Jacobian of measurement function for Singer acceleration motion model

*Since R2020b*

## Syntax

## Description

returns the Jacobian of the measurement function, `measurementjac`

= singermeasjac(`state`

)`measurementjac`

, for a
state based on the Singer acceleration motion model, which assumes the target acceleration
decays over time. `state`

specifies the current state of the
track.

specifies the measurement Jacobian output coordinate system,
`measurementjac`

= singermeasjac(`state`

,`frame`

)`frame`

.

specifies the sensor position, `measurementjac`

= singermeasjac(`state`

,`frame`

,`sensorpos`

,`sensorvel`

)`sensorpos`

, and the sensor velocity,
`sensorvel`

.

specifies the measurement parameters, `measurementjac`

= singermeasjac(`state`

,`measurementParameters`

)`measurementParameters`

.

## Examples

## Input Arguments

## Output Arguments

## More About

## References

[1] Singer, Robert A.
*"Estimating optimal tracking filter performance for manned maneuvering
targets."* IEEE Transactions on Aerospace and Electronic Systems 4 (1970):
473-483.

[2] Blackman, Samuel S., and Robert
Popoli.* "Design and analysis of modern tracking systems."*
(1999).

[3] Li, X. Rong, and Vesselin P.
Jilkov. *"Survey of maneuvering target tracking: dynamic models."* Signal
and Data Processing of Small Targets 2000, vol. 4048, pp. 212-235. International Society for
Optics and Photonics, 2000.

## Extended Capabilities

## Version History

**Introduced in R2020b**

## See Also

### Functions

`singer`

|`singerjac`

|`singermeas`

|`singerProcessNoise`

|`cvmeasjac`

|`cameasjac`

|`ctmeasjac`

|`ctrvmeasjac`

|`initsingerekf`