ungm_df_dx.m

来自「有关kalman滤波及其一些变形滤波算法」· M 代码 · 共 11 行

% Jacobian of the state transition function for the 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 df = ungm_df_dx(x,param)
df = 0.5+25*(1-x.^2)./((1+x.^2).^2);