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Jacobian of measurement function for constant turn-rate motion

`measurementjac = ctmeasjac(state)`

`measurementjac = ctmeasjac(state,frame)`

`measurementjac = ctmeasjac(state,frame,sensorpos)`

`measurementjac = ctmeasjac(state,frame,sensorpos,sensorvel)`

`measurementjac = ctmeasjac(state,frame,sensorpos,sensorvel,laxes)`

`measurementjac = ctmeasjac(state,measurementParameters)`

returns the measurement Jacobian, `measurementjac`

= ctmeasjac(`state`

)`measurementjac`

, for a
constant turn-rate Kalman filter motion model in rectangular coordinates.
`state`

specifies the current state of the track.

also specifies the measurement coordinate system, `measurementjac`

= ctmeasjac(`state`

,`frame`

)`frame`

.

also specifies the sensor position, `measurementjac`

= ctmeasjac(`state`

,`frame`

,`sensorpos`

)`sensorpos`

.

also
specifies the sensor velocity, `measurementjac`

= ctmeasjac(`state`

,`frame`

,`sensorpos`

,`sensorvel`

)`sensorvel`

.

specifies the measurement parameters,
`measurementjac`

= ctmeasjac(`state`

,`measurementParameters`

)`measurementParameters`

.

`cameas`

|`cameasjac`

|`constacc`

|`constaccjac`

|`constturn`

|`constturnjac`

|`constvel`

|`constveljac`

|`ctmeas`

|`cvmeas`

|`cvmeasjac`