ungm_d2f_dx2.m

有关kalman滤波及其一些变形滤波算法

% Hessian of the state transition function in UNGM-model.

% Copyright (C) 2007 Jouni Hartikainen
%
% This software is distributed under the GNU General Public 
% Licence (version 2 or later); please refer to the file 
% Licence.txt, included with the software, for details.
function d = ungm_d2f_dx2(x,param)
    d = 25*(-6*x+2*x.^5-4*x.^3)/((1+x.^2).^4);