# constvelmscjac

Jacobian of constant velocity (CV) motion model in MSC frame

## Syntax

## Description

`[`

calculates the Jacobian matrix of the motion model with respect to the state vector and the
noise. The input `jacobianState`

,`jacobianNoise`

] = constvelmscjac(`state`

,`vNoise`

)`state`

defines the current state, and
`vNoise`

defines the target acceleration noise in the observer's
Cartesian frame. The function assumes a time interval, `dt`

, of one
second, and zero observer acceleration in all dimensions.

The `trackingEKF`

object allows you to specify the
`StateTransitionJacobianFcn`

property. The function can be used as a
`StateTransitionJacobianFcn`

when the
`HasAdditiveProcessNoise`

is set to `false`

.

`[`

specifies the time interval, `jacobianState`

,`jacobianNoise`

] = constvelmscjac(`state`

,`vNoise`

,`dt`

)`dt`

. The function assumes zero observer
acceleration in all dimensions.

`[`

specifies the observer input, `jacobianState`

,`jacobianNoise`

] = constvelmscjac(`state`

,`vNoise`

,`dt`

,`u`

)`u`

, during the time interval,
`dt`

.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

**Introduced in R2018b**