Constant velocity state update
Update the state of two-dimensional constant-velocity motion for a time interval of one second.
state = [1;1;2;1]; state = constvel(state)
state = 4×1 2 1 3 1
Update the state of two-dimensional constant-velocity motion for a time interval of 1.5 seconds.
state = [1;1;2;1]; state = constvel(state,1.5)
state = 4×1 2.5000 1.0000 3.5000 1.0000
w— State noise
State noise, specified as a scalar or real-valued D-by-N matrix. D is the number of motion dimensions and N is the number of state vectors. For example, D = 2 for the 2-D motion. If specified as a scalar, the scalar value is expanded to a D-by-N matrix.
For a two-dimensional constant-velocity process, the state transition matrix after a time step, T, is block diagonal as shown here.
The block for each spatial dimension is:
For each additional spatial dimension, add an identical block.