Path: Common/Estimation
% Continuous Wiener process acceleration (CWPA) model. This is a 2 dimensional model planar movement model that includes acceleration states. This is a discrete time model. The state is [x y xDot yDot xDoubleDot yDoubleDot]'. Type CWPAModel for an example with dT = 1. -------------------------------------------------------------------------- Form: [a, h, q] = CWPAModel( dT ) -------------------------------------------------------------------------- ------ Inputs ------ dT (1,1) Time step (sec) ------- Outputs ------- a (6,6) State transition matrix h (2,6) Measurement matrix q (6,6) Plant noise covariance matrix --------------------------------------------------------------------------
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