# constturnjac

Jacobian of state transition function based on constant turn-rate and velocity-magnitude motion

## Description

returns the Jacobian of the state transition function based on the constant
turn-rate and velocity-magnitude motion model. The default time step is 1 second. By
default, `Jx`

= constturnjac(`state`

)`constturnjac`

returns the Jacobian
`Jx`

with respect to the input state,
`state`

. Constant turn-rate mean that motion in the
*xy*-plane follows a constant angular velocity and motion in
the vertical *z* directions follows a constant velocity
model.

**Note**

`constturnjac`

represents velocity in the
*xy*-plane with its Cartesian components,
`Vx`

and `Vy`

. For the constant
turn-rate and velocity-magnitude motion model using velocity magnitude and
direction, see `ctrvjac`

.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2018b**

## See Also

### Functions

`constturn`

|`ctmeas`

|`ctmeasjac`

|`constveljac`

|`constaccjac`

|`ctrvjac`

|`singerjac`

|`initctekf`

|`initctukf`