singerjac
Description
Examples
Input Arguments
Output Arguments
Algorithms
Given the dimension of the state space, the Jacobian of a Singer model takes different forms.
For 1-D state space, the Jacobian matrix is calculated as
where T is the time step interval, τ is the target maneuver time constant, and β = exp(-T/τ).
For 2-D state space, the Jacobian matrix is calculated as
For 3-D state space, the Jacobian matrix is calculated as
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
initsingerekf
| singer
| singermeas
| singermeasjac
| singerProcessNoise