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Constant turn-rate motion model

`updatedstate = constturn(state)`

`updatedstate = constturn(state,dt)`

`updatedstate = constturn(state,dt,w)`

returns the updated state, `updatedstate`

= constturn(`state`

)`updatedstate`

, obtained from the
previous state, `state`

, after a one-second step time for motion
modelled as constant turn rate. 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 the time step, `updatedstate`

= constturn(`state`

,`dt`

)`dt`

.

also specifies noise, `updatedstate`

= constturn(`state`

,`dt`

,`w`

)`w`

.

`cameas`

|`cameasjac`

|`constacc`

|`constaccjac`

|`constturnjac`

|`constvel`

|`constveljac`

|`ctmeas`

|`ctmeasjac`

|`cvmeas`

|`cvmeasjac`

|`initctekf`

|`initctukf`