# constveljac

Jacobian of state transition function based on constant-velocity motion model

*Since R2021a*

## Description

## 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 R2021a**

## See Also

### Functions

`constvel`

(Sensor Fusion and Tracking Toolbox) |`constvelmsc`

(Sensor Fusion and Tracking Toolbox) |`constvelmscjac`

(Sensor Fusion and Tracking Toolbox) |`constaccjac`

|`ctrvjac`

(Sensor Fusion and Tracking Toolbox) |`constturnjac`

(Sensor Fusion and Tracking Toolbox) |`singerjac`

(Sensor Fusion and Tracking Toolbox) |`initcvekf`

(Sensor Fusion and Tracking Toolbox) |`initcvukf`

(Sensor Fusion and Tracking Toolbox)