MHTDistanceUKF:

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   Finds the MHT distance for use in gating computations using UKF.

   The measurement function is of the form h(x,d) where d is the UKF
   data structure. MHTDistanceUKF uses sigma points. The code is similar
   to UKFUpdate. Unlike MHTDistance this does not use the Jacobian of the
   measurement function.

   As the uncertainty gets smaller, the residual must be smaller to 
   remain within the gate. 

   See MHTDistance for an alternative approach.

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   Form:
   [k, del] = MHTDistanceUKF( d )
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   ------
   Inputs
   ------
   d         (.)   UKF data structure

   -------
   Outputs
   -------
   k        (1,1)  MHT distance
   del      (1,1)  MHT Residual

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Children:

Math: Linear/DupVect