Constant turn-rate motion model
updatedstate = constturn(state)
updatedstate = constturn(state,dt)
updatedstate = constturn(state,dt,w)
returns the updated state,
updatedstate = constturn(
updatedstate, obtained from the
state, after a one-second step time for motion
modelled as constant turn rate. Constant turn rate means that motion in the
x-y plane follows a constant angular
velocity and motion in the vertical z directions follows a
constant velocity model.
Define an initial state for 2-D constant turn-rate motion. The turn rate is 12 degrees per second. Update the state to one second later.
state = [500,0,0,100,12].'; state = constturn(state)
state = 5×1 489.5662 -20.7912 99.2705 97.8148 12.0000
Define an initial state for 2-D constant turn-rate motion. The turn rate is 12 degrees per second. Update the state to 0.1 seconds later.
state = [500,0,0,100,12].'; state = constturn(state,0.1)
state = 5×1 499.8953 -2.0942 9.9993 99.9781 12.0000
w— State noise
State noise, specified as a scalar or real-valued
(D+1)-length -by-N matrix.
D is the number of motion dimensions and
N is the number of state vectors. The components are
each columns are
[ax;ay;alpha] for 2-D motion or
[ax;ay;alpha;az] for 3-D motion.
are the linear acceleration noise values in the x-,
y-, and z-axes, respectively, and
alpha is the angular acceleration noise value. If
specified as a scalar, the value expands to a