# constturn

State transition function for constant turn-rate and velocity-magnitude motion model

## Syntax

## Description

returns the predicted state, `predictedState`

= constturn(`state`

)`predictedState`

, obtained from the
current state, `state`

, based on the constant turn-rate and
velocity-magnitude motion model. The default time step is 1 second. 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.

also specifies the time step, `predictedState`

= constturn(`state`

,`dt`

)`dt`

.

also specifies noise, `predictedState`

= constturn(`state`

,`w`

,`dt`

)`w`

.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2017a**

## See Also

### Functions

`constturnjac`

(Sensor Fusion and Tracking Toolbox) |`ctmeas`

(Sensor Fusion and Tracking Toolbox) |`ctmeasjac`

(Sensor Fusion and Tracking Toolbox) |`constvel`

(Sensor Fusion and Tracking Toolbox) |`constacc`

|`singer`

(Sensor Fusion and Tracking Toolbox) |`ctrv`

(Sensor Fusion and Tracking Toolbox) |`initctekf`

(Sensor Fusion and Tracking Toolbox) |`initctukf`

(Sensor Fusion and Tracking Toolbox)