# constturnjac

Jacobian for constant turn-rate motion

## Syntax

## Description

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`

,`w`

,`dt`

)`w`

, and returns the Jacobian,
`noisejacobian`

, of the state with respect to the
noise.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2021a**