cameasjac

Jacobian of measurement function for constant-acceleration motion

Description

example

measurementjac = cameasjac(state) returns the measurement Jacobian, for constant-acceleration Kalman filter motion model in rectangular coordinates. The state argument specifies the current state of the filter.

example

measurementjac = cameasjac(state,frame) also specifies the measurement coordinate system, frame.

example

measurementjac = cameasjac(state,frame,sensorpos) also specifies the sensor position, sensorpos.

measurementjac = cameasjac(state,frame,sensorpos,sensorvel) also specifies the sensor velocity, sensorvel.

measurementjac = cameasjac(state,frame,sensorpos,sensorvel,laxes) also specifies the local sensor axes orientation, laxes.

example

measurementjac = cameasjac(state,measurementParameters) specifies the measurement parameters, measurementParameters.

Examples

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Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Construct the measurement Jacobian in rectangular coordinates.

state = [1,10,3,2,20,5].';
jacobian = cameasjac(state)
jacobian = 3×6

     1     0     0     0     0     0
     0     0     0     1     0     0
     0     0     0     0     0     0

Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Compute the measurement Jacobian in spherical coordinates.

state = [1;10;3;2;20;5];
measurementjac = cameasjac(state,'spherical')
measurementjac = 4×6

  -22.9183         0         0   11.4592         0         0
         0         0         0         0         0         0
    0.4472         0         0    0.8944         0         0
    0.0000    0.4472         0    0.0000    0.8944         0

Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Compute the measurement Jacobian in spherical coordinates with respect to an origin at (5;-20;0) meters.

state = [1,10,3,2,20,5].';
sensorpos = [5,-20,0].';
measurementjac = cameasjac(state,'spherical',sensorpos)
measurementjac = 4×6

   -2.5210         0         0   -0.4584         0         0
         0         0         0         0         0         0
   -0.1789         0         0    0.9839         0         0
    0.5903   -0.1789         0    0.1073    0.9839         0

Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Compute the measurement Jacobian in spherical coordinates with respect to an origin at (5;-20;0) meters.

state2d = [1,10,3,2,20,5].';
sensorpos = [5,-20,0].';
frame = 'spherical';
sensorvel = [0;8;0];
laxes = eye(3);
measurementjac = cameasjac(state2d,frame,sensorpos,sensorvel,laxes)
measurementjac = 4×6

   -2.5210         0         0   -0.4584         0         0
         0         0         0         0         0         0
   -0.1789         0         0    0.9839         0         0
    0.5274   -0.1789         0    0.0959    0.9839         0

Put the measurement parameters in a structure and use the alternative syntax.

measparm = struct('Frame',frame,'OriginPosition',sensorpos,'OriginVelocity',sensorvel, ...
    'Orientation',laxes);
measurementjac = cameasjac(state2d,measparm)
measurementjac = 4×6

   -2.5210         0         0   -0.4584         0         0
         0         0         0         0         0         0
   -0.1789         0         0    0.9839         0         0
    0.5274   -0.1789         0    0.0959    0.9839         0

Input Arguments

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Kalman filter state vector for constant-acceleration motion, specified as a real-valued 3N-element vector. N is the number of spatial degrees of freedom of motion. For each spatial degree of motion, the state vector takes the form shown in this table.

Spatial DimensionsState Vector Structure
1-D[x;vx;ax]
2-D[x;vx;ax;y;vy;ay]
3-D[x;vx;ax;y;vy;ay;z;vz;az]

For example, x represents the x-coordinate, vx represents the velocity in the x-direction, and ax represents the acceleration in the x-direction. If the motion model is in one-dimensional space, the y- and z-axes are assumed to be zero. If the motion model is in two-dimensional space, values along the z-axis are assumed to be zero. Position coordinates are in meters. Velocity coordinates are in meters/second. Acceleration coordinates are in meters/second2.

Example: [5;0.1;0.01;0;-0.2;-0.01;-3;0.05;0]

Data Types: double

Measurement frame, specified as 'rectangular' or 'spherical'. When the frame is 'rectangular', a measurement consists of the x, y, and z Cartesian coordinates of the tracked object. When specified as 'spherical', a measurement consists of the azimuth, elevation, range, and range rate of the tracked object.

Data Types: char

Sensor position with respect to the global coordinate system, specified as a real-valued 3-by-1 column vector. Units are in meters.

Data Types: double

Sensor velocity with respect to the global coordinate system, specified as a real-valued 3-by-1 column vector. Units are in meters/second.

Data Types: double

Local sensor coordinate axes, specified as a 3-by-3 orthogonal matrix. Each column specifies the direction of the local x-, y-, and z-axes, respectively, with respect to the global coordinate system.

Data Types: double

Measurement parameters, specified as a structure or an array of structures. The fields of the structure are:

FieldDescriptionExample
Frame

Frame used to report measurements, specified as one of these values:

  • 'rectangular' — Detections are reported in rectangular coordinates.

  • 'spherical' — Detections are reported in spherical coordinates.

'spherical'
OriginPositionPosition offset of the origin of the frame relative to the parent frame, specified as an [x y z] real-valued vector.[0 0 0]
OriginVelocityVelocity offset of the origin of the frame relative to the parent frame, specified as a [vx vy vz] real-valued vector.[0 0 0]
OrientationFrame rotation matrix, specified as a 3-by-3 real-valued orthonormal matrix.[1 0 0; 0 1 0; 0 0 1]
HasAzimuthLogical scalar indicating if azimuth is included in the measurement.1
HasElevationLogical scalar indicating if elevation is included in the measurement. For measurements reported in a rectangular frame, and if HasElevation is false, the reported measurements assume 0 degrees of elevation.1
HasRangeLogical scalar indicating if range is included in the measurement.1
HasVelocityLogical scalar indicating if the reported detections include velocity measurements. For measurements reported in the rectangular frame, if HasVelocity is false, the measurements are reported as [x y z]. If HasVelocity is true, measurements are reported as [x y z vx vy vz].1
IsParentToChildLogical scalar indicating if Orientation performs a frame rotation from the parent coordinate frame to the child coordinate frame. When IsParentToChild is false, then Orientation performs a frame rotation from the child coordinate frame to the parent coordinate frame.0

Data Types: struct

Output Arguments

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Measurement Jacobian, specified as a real-valued 3-by-N or 4-by-N matrix. N is the dimension of the state vector. The interpretation of the rows and columns depends on the frame argument, as described in this table.

FrameMeasurement Jacobian
'rectangular'Jacobian of the measurements [x;y;z] with respect to the state vector. The measurement vector is with respect to the local coordinate system. Coordinates are in meters.
'spherical'Jacobian of the measurement vector [az;el;r;rr] with respect to the state vector. Measurement vector components specify the azimuth angle, elevation angle, range, and range rate of the object with respect to the local sensor coordinate system. Angle units are in degrees. Range units are in meters and range rate units are in meters/second.

More About

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Azimuth and Elevation Angle Definitions

Define the azimuth and elevation angles used in Automated Driving Toolbox™.

The azimuth angle of a vector is the angle between the x-axis and its orthogonal projection onto the xy plane. The angle is positive in going from the x axis toward the y axis. Azimuth angles lie between –180 and 180 degrees. The elevation angle is the angle between the vector and its orthogonal projection onto the xy-plane. The angle is positive when going toward the positive z-axis from the xy plane.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2017a