# correctjpda

Correct state and state estimation error covariance using tracking filter and JPDA

## Syntax

## Description

`[`

returns the corrected state, `xcorr`

,`Pcorr`

] = correctjpda(`filter`

,`zmeas`

)`xcorr`

, and the corrected state
estimation error covariance, `Pcorr`

, for the next time step of the
input tracking filter. The corrected values are based on a set of measurements,
`zmeas`

, and their joint probabilistic data association coefficients,
`jpdacoeffs`

. These values overwrite the internal state and state
estimation error covariance of `filter`

.

`[`

specifies additional parameters used by the measurement function that is defined in the
`xcorr`

,`Pcorr`

] = correctjpda(`filter`

,`zmeas`

,`jpdacoeffs`

,`measparams`

)`MeasurementFcn`

property of the tracking filter object.

If filter is a `trackingKF`

or `trackingABF`

object, then
you cannot use this syntax.

`[`

specifies additional measurement covariance, `xcorr`

,`Pcorr`

] = correctjpda(`filter`

,`zmeas`

,`jpdacoeffs`

,`zcov`

)`zcov`

, used in the
`MeasurementNoise`

property of `filter`

.

You can use this syntax only when `filter`

is a `trackingKF`

object.

`[`

also returns the correction of measurements, `xcorr`

,`Pcorr`

,`zcorr`

] = correctjpda(`filter`

,`zmeas`

,`jpdacoeffs`

)`zcorr`

.

You can use this syntax only when `filter`

is a `trackingABF`

object.

`[`

returns the correction of measurements, `xcorr`

,`Pcorr`

,`zcorr`

] = correctjpda(`filter`

,`zmeas`

,`jpdacoeffs`

,`zcov`

)`zcorr`

, and also specifies
additional measurement covariance, `zcov`

, used in the
`MeasurementNoise`

property of `filter`

.

You can use this syntax only when `filter`

is a `trackingABF`

object.

`correctjpda(`

updates
`filter`

,___)`filter`

with the corrected state and state estimation error
covariance without returning the corrected values. Specify the tracking filter and any of
the input argument combinations from preceding syntaxes.

## Input Arguments

## Output Arguments

## More About

## References

[1] Fortmann, T., Y. Bar-Shalom, and
M. Scheffe. "Sonar Tracking of Multiple Targets Using Joint Probabilistic Data Association."
*IEEE Journal of Ocean Engineering.* Vol. 8, Number 3, 1983, pp.
173–184.

## Extended Capabilities

## See Also

`clone`

| `correct`

| `distance`

| `initialize`

| `likelihood`

| `predict`

| `residual`

**Introduced in R2021a**