ConstantTurnRateModel

Constant turn-rate state transition model

Since R2025a

Description

A ConstantTurnRateModel object defines the constant turn-rate state transition model. You can use this model to define the state transition model for a CustomTarget. The state transition model of the CustomTarget specification defines the state convention for trackers initialized with it. For a ConstantTurnRateModel, the associated state conventions follow.

Motion Dimension	State Convention
2	[x;vx;y;vy;omega]
3	[x;vx;y;vy;omega;z;vz]

• x, y, and z represent the x-, y-, and z-coordinates in meters.

• vx, vy, and vz represent the velocity components in different directions in meters per second.

• omega represents the turn-rate in degrees per second.

Creation

To create a ConstantTurnRateModel object, use the targetStateTransitionModel function with the "constant-turn-rate" input argument. For example:

stateTransModel = targetStateTransitionModel("constant-turn-rate")

Properties

NumMotionDimensions — Number of motion dimensions

3 (default) | 2

Number of motion dimensions, specified as 3 or 2.

Example: 3

Data Types: single | double

VelocityMean — Mean of prior velocity

[0;0;0] (default) | N-by-1 real column vector

Mean of prior velocity in each dimension, specified as an N-by-1 real column vector. The dimension N must be the same as NumMotionDimensions. Units are in m/s. This property assists in track initialization by providing initial estimates for the object's state.

Example: [25 16]

Data Types: single | double

VelocityVariance — Variance of prior velocity

100*eye(3) (default) | N-by-N real matrix

Variance of prior velocity, specified as an N-by-N real matrix. The dimension N must be the same as NumMotionDimensions. Units are in (m/s)². This property assists in track initialization by providing initial estimates for the object's state.

Example: 75*eye(2)

Data Types: single | double

TurnRateMean — Mean of prior turn rate

0 (default) | real scalar

Mean of prior turn rate in each dimension, specified as a real scalar. Units are in degrees/s. This property assists in track initialization by providing initial estimates for the object's state.

Example: 7

Data Types: single | double

TurnRateVariance — Variance of prior turn rate

100 (default) | real scalar

Variance of prior turn rate, specified as a real scalar. Units are in (degrees/s)². This property assist in track initialization by providing initial estimates for the object's state.

Example: 50*eye(2)

Data Types: single | double

AccelerationVariance — Variance of unknown acceleration

eye(3) (default) | N-by-N real matrix

Variance of unknown acceleration, specified as an N-by-N real matrix. This property defines the process noise of the model. The dimension N must be the same as NumMotionDimensions. Units are in m²/s⁴. This property defines the level of uncertainty in the model.

Example: 2.5*eye(2)

Data Types: single | double

TurnAccelerationVariance — Variance of unknown angular acceleration

1 (default) | real scalar

Variance of unknown angular acceleration, specified as a real scalar. This property defines the zero mean process noise in the model. Units are in degrees²/s⁴. This property defines the level of uncertainty in the model.

Example: 2

Data Types: single | double

Version History

Introduced in R2025a