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%AZ_DH_DX Measurement derivative function for EKF.with 2d attributes % % \V{x} = [x y vx vy a1 a2]^T % % dh_dx = -(y-sy) / (x-sx)^2 * 1 / (1 + (y-sy)^2 / (x-sx)^2) % = -(y-sy) / ((x-sx)^2 +

%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

%AZ_H Azimuth measurement function for EKF. % % h = atan((y-sy) / (x-sx)) % % Copyright (C) 2003 Simo S鋜kk

%AZ_H Azimuth measurement function for EKF.with 2d attributes % % \V{x} = [x y vx vy a1 a2]^T % % h = atan((y-sy) / (x-sx)) % a = [a1 a2]^T % Y = [h;a] % % Copyright (C) 2003 Simo S鋜kk

% KF_MT_DEMO2 Tracking unknown number of 2D signals with measurement restriction % % % History: % 13.02.2008 First official version % % Copyright (C) 2005 Simo S鋜kk

%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

%AZ_H Azimuth measurement function for EKF. % % h = atan((y-sy) / (x-sx)) % % Copyright (C) 2003 Simo S鋜kk

% mreast.m % Scope: This MATLAB macro executes measurement reasonableness test for a % given scalar measurement. % Usage: alpha = mreast(n,ud,h,r,dz,tes

% mudm.m % Scope: This MATLAB macro implements the discrete Kalman filter measurement % updating using Bierman's U-D measurement update algorithm. Onl

% qrupa.m % Scope: This MATLAB macro implements the updating algorithm [1] for Q-R % factorization of the modified measurement matrix when a new %