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Jacobian for constant turn-rate motion

`jacobian = constturnjac(state)`

`jacobian = constturnjac(state,dt) `

`[jacobian,noisejacobian] = constturnjac(state,dt,w)`

returns the updated Jacobian, `jacobian`

= constturnjac(`state`

)`jacobian`

, for constant turn-rate
Kalman filter motion model for a one-second step time. The
`state`

argument specifies the current state of the filter.
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.

`[`

also specifies noise, `jacobian`

,`noisejacobian`

] = constturnjac(`state`

,`dt`

,`w`

)`w`

, and returns the Jacobian,
`noisejacobian`

, of the state with respect to the
noise.

`cameas`

|`cameasjac`

|`constacc`

|`constaccjac`

|`constturn`

|`constvel`

|`constveljac`

|`ctmeas`

|`ctmeasjac`

|`cvmeas`

|`cvmeasjac`

|`initctekf`