bot_dh_dx.m

来自「有关kalman滤波及其一些变形滤波算法」· M 代码 · 共 9 行

% Jacobian of the measurement model function in BOT demo.
%
%  dh_dx = -(y-sy) / (x-sx)^2 * 1 / (1 + (y-sy)^2 / (x-sx)^2)
%        = -(y-sy) / ((x-sx)^2 + (y-sy)^2)
%  dh_dy = 1 / (x-sx) * 1 / (1 + (y-sy)^2 / (x-sx)^2)
%        = (x-sx) / ((x-sx)^2 + (y-sy)^2)
%

% Copyright (C) 2003 Simo S鋜kk