az_dh_dx.m

基于RBMCDA (Rao-Blackwellized Monte Carlo Data Association)方法的多目标追踪程序

%AZ_DH_DX Measurement derivative function for EKF.
%
%  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