# constveljac

Jacobian for constant-velocity motion

## Syntax

## Description

`[`

specifies the state noise, `jacobian`

,`noisejacobian`

] = constveljac(`state`

,`w`

,`dt`

)`w`

, and returns the Jacobian,
`noisejacobian`

, of the state with respect to the noise.

## Examples

## Input Arguments

## Output Arguments

## Algorithms

For a two-dimensional constant-velocity motion, the Jacobian
matrix for a time step, *T*, is block diagonal:

$$\left[\begin{array}{cccc}1& T& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& T\\ 0& 0& 0& 1\end{array}\right]$$

The block for each spatial dimension has this form:

$$\left[\begin{array}{cc}1& T\\ 0& 1\end{array}\right]$$

For each additional spatial dimension, add an identical block.

## Extended Capabilities

## Version History

**Introduced in R2017a**