cameasjac

measurementjac = cameasjac(state) returns the measurement Jacobian, for constant-acceleration Kalman filter motion model in rectangular coordinates. The state argument specifies the current state of the filter.

measurementjac = cameasjac(state,frame) also specifies the measurement coordinate system, frame.

measurementjac = cameasjac(state,frame,sensorpos) also specifies the sensor position, sensorpos.

measurementjac = cameasjac(state,frame,sensorpos,sensorvel) also specifies the sensor velocity, sensorvel.

measurementjac = cameasjac(state,frame,sensorpos,sensorvel,laxes) also specifies the local sensor axes orientation, laxes.

measurementjac = cameasjac(state,measurementParameters) specifies the measurement parameters, measurementParameters.

Examples

Measurement Jacobian of Accelerating Object in Rectangular Frame

Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Construct the measurement Jacobian in rectangular coordinates.

state = [1,10,3,2,20,5].';
jacobian = cameasjac(state)

jacobian = 3×6

     1     0     0     0     0     0
     0     0     0     1     0     0
     0     0     0     0     0     0

Measurement Jacobian of Accelerating Object in Spherical Frame

Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Compute the measurement Jacobian in spherical coordinates.

state = [1;10;3;2;20;5];
measurementjac = cameasjac(state,'spherical')

measurementjac = 4×6

  -22.9183         0         0   11.4592         0         0
         0         0         0         0         0         0
    0.4472         0         0    0.8944         0         0
    0.0000    0.4472         0    0.0000    0.8944         0

Measurement Jacobian of Accelerating Object in Translated Spherical Frame

Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Compute the measurement Jacobian in spherical coordinates with respect to an origin at (5;-20;0) meters.

state = [1,10,3,2,20,5].';
sensorpos = [5,-20,0].';
measurementjac = cameasjac(state,'spherical',sensorpos)

measurementjac = 4×6

   -2.5210         0         0   -0.4584         0         0
         0         0         0         0         0         0
   -0.1789         0         0    0.9839         0         0
    0.5903   -0.1789         0    0.1073    0.9839         0

Create Measurement Jacobian of Accelerating Object Using Measurement Parameters

state2d = [1,10,3,2,20,5].';
sensorpos = [5,-20,0].';
frame = 'spherical';
sensorvel = [0;8;0];
laxes = eye(3);
measurementjac = cameasjac(state2d,frame,sensorpos,sensorvel,laxes)

measurementjac = 4×6

   -2.5210         0         0   -0.4584         0         0
         0         0         0         0         0         0
   -0.1789         0         0    0.9839         0         0
    0.5274   -0.1789         0    0.0959    0.9839         0

Put the measurement parameters in a structure and use the alternative syntax.

measparm = struct('Frame',frame,'OriginPosition',sensorpos,'OriginVelocity',sensorvel, ...
    'Orientation',laxes);
measurementjac = cameasjac(state2d,measparm)

measurementjac = 4×6

   -2.5210         0         0   -0.4584         0         0
         0         0         0         0         0         0
   -0.1789         0         0    0.9839         0         0
    0.5274   -0.1789         0    0.0959    0.9839         0

Input Arguments

`state` — Kalman filter state vector
real-valued 3N-element vector

Kalman filter state vector for constant-acceleration motion, specified as a real-valued 3N-element vector. N is the number of spatial degrees of freedom of motion. For each spatial degree of motion, the state vector takes the form shown in this table.

Spatial Dimensions	State Vector Structure
1-D	`[x;vx;ax]`
2-D	`[x;vx;ax;y;vy;ay]`
3-D	`[x;vx;ax;y;vy;ay;z;vz;az]`

For example, x represents the x-coordinate, vx represents the velocity in the x-direction, and ax represents the acceleration in the x-direction. If the motion model is in one-dimensional space, the y- and z-axes are assumed to be zero. If the motion model is in two-dimensional space, values along the z-axis are assumed to be zero. Position coordinates are in meters. Velocity coordinates are in meters/second. Acceleration coordinates are in meters/second².

Example: [5;0.1;0.01;0;-0.2;-0.01;-3;0.05;0]

Data Types: double

`frame` — Measurement output frame
`'rectangular'` (default) | `'spherical'`

Measurement output frame, specified as 'rectangular' or 'spherical'. When the frame is 'rectangular', a measurement consists of x, y, and z Cartesian coordinates. When specified as 'spherical', a measurement consists of azimuth, elevation, range, and range rate.

Data Types: char

`sensorpos` — Sensor position
`[0;0;0]` (default) | real-valued 3-by-1 column vector

Sensor position with respect to the navigation frame, specified as a real-valued 3-by-1 column vector. Units are in meters.

Data Types: double

`sensorvel` — Sensor velocity
`[0;0;0]` (default) | real-valued 3-by-1 column vector

Sensor velocity with respect to the navigation frame, specified as a real-valued 3-by-1 column vector. Units are in m/s.

Data Types: double

`laxes` — Local sensor coordinate axes
`[1,0,0;0,1,0;0,0,1]` (default) | 3-by-3 orthogonal matrix

Local sensor coordinate axes, specified as a 3-by-3 orthogonal matrix. Each column specifies the direction of the local x-, y-, and z-axes, respectively, with respect to the navigation frame. That is, the matrix is the rotation matrix from the global frame to the sensor frame.

Data Types: double

`measurementParameters` — Measurement parameters
structure | array of structure

Measurement parameters, specified as a structure or an array of structures. The fields of the structure are:

Field	Description	Example
`Frame`	Frame used to report measurements, specified as one of these values: `'Rectangular'` — Detections are reported in rectangular coordinates. `'Spherical'` — Detections are reported in spherical coordinates. Tip In Simulink, when you create an object detection Bus, specify `Frame` as an enumeration object of `fusionCoordinateFrameType.Rectangular` or `fusionCoordinateFrameType.Spherical` because Simulink does not support variable-size variables such as a character vector.	`'spherical'`
`OriginPosition`	Position offset of the origin of the frame relative to the parent frame, specified as an `[x y z]` real-valued vector.	`[0 0 0]`
`OriginVelocity`	Velocity offset of the origin of the frame relative to the parent frame, specified as a `[vx vy vz]` real-valued vector.	`[0 0 0]`
`Orientation`	Frame rotation matrix, specified as a 3-by-3 real-valued orthonormal matrix.	`[1 0 0; 0 1 0; 0 0 1]`
`HasAzimuth`	Logical scalar indicating if azimuth is included in the measurement. This field is not relevant when the `Frame` field is `'Rectangular'`.	`1`
`HasElevation`	Logical scalar indicating if elevation information is included in the measurement. For measurements reported in a rectangular frame, and if `HasElevation` is false, the reported measurements assume 0 degrees of elevation.	`1`
`HasRange`	Logical scalar indicating if range is included in the measurement. This field is not relevant when the `Frame` is `'Rectangular'`.	`1`
`HasVelocity`	Logical scalar indicating if the reported detections include velocity measurements. For a measurement reported in the rectangular frame, if `HasVelocity` is `false`, the measurements are reported as `[x y z]`. If `HasVelocity` is `true`, the measurement is reported as `[x y z vx vy vz]`. For a measurement reported in the spherical frame, if `HasVelocity` is `true`, the measurement contains range-rate information.	`1`
`IsParentToChild`	Logical scalar indicating if `Orientation` performs a frame rotation from the parent coordinate frame to the child coordinate frame. When `IsParentToChild` is `false`, then `Orientation` performs a frame rotation from the child coordinate frame to the parent coordinate frame.	`0`

If you only want to perform one coordinate transformation, such as a transformation from the body frame to the sensor frame, you only need to specify a measurement parameter structure. If you want to perform multiple coordinate transformations, you need to specify an array of measurement parameter structures. To learn how to perform multiple transformations, see the Convert Detections to objectDetection Format (Sensor Fusion and Tracking Toolbox) example.

Data Types: struct

Output Arguments

`measurementjac` — Measurement Jacobian
real-valued 3-by-N matrix | real-valued 4-by-N matrix

Measurement Jacobian, specified as a real-valued 3-by-N or 4-by-N matrix. N is the dimension of the state vector. The interpretation of the rows and columns depends on the frame argument, as described in this table.

Frame	Measurement Jacobian
`'rectangular'`	Jacobian of the measurements `[x;y;z]` with respect to the state vector. The measurement vector is with respect to the local coordinate system. Coordinates are in meters.
`'spherical'`	Jacobian of the measurement vector `[az;el;r;rr]` with respect to the state vector. Measurement vector components specify the azimuth angle, elevation angle, range, and range rate of the object with respect to the local sensor coordinate system. Angle units are in degrees. Range units are in meters and range rate units are in meters/second.

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