Jx = ctrectjac(state)
returns the Jacobian matrix of the constant turn-rate rectangular motion model with respect
to the state vector. The default time step is 1 second.

Current state, specified as a 1-by-7 real-valued vector. The sate of the
constant-turn rectangular target model is [x; y;
s; θ; ω;
L; W]. The meaning of these variables and their
units are:

Variable

Meaning

Unit

x

Position of the rectangle center in x
direction

m

y

Position of the rectangle center in y
direction

m

s

Speed in the heading direction

m/s

θ

Orientation angle of the rectangle with respect to
x direction

degree

ω

Turn-rate

degree/s

L

Length of the rectangle

m

W

Width of the rectangle

m

Example: [1;2;2;30;1;4.7;1.8]

Data Types: single | double

dt — Time step real-valued positive scalar

Time step, specified as a real-valued positive scalar in second.

Data Types: single | double

w — Process noise real scalar | 2-element real-valued vector

Process noise, specified as a 2-element real-valued vector. The first element
specifies the process noise in linear acceleration (m/s^{2}).
The second element specifies the process noise in yaw acceleration
(degrees/s^{2}).

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