model_cv.m

this is 3d tr model for airplane target tracking

function [X_k] = Model_CV (X_k_1 , T , Q)

F = [eye(3) T*eye(3) T^2/2*eye(3);zeros(3) eye(3) T*eye(3);zeros(3) zeros(3) eye(3)];

G = [T^2/2*eye(3,3) ; T*eye(3) ; eye(3)];

sizex = size(X_k_1);

X_k = F * X_k_1;

%v_cauchy = cauchy(q,State_Number,N);

v_gaussian = Q^.5 * randn (3 , sizex(1,2));

X_k = X_k + G * v_gaussian ; 

return