?? az_dh_dx_2a.m
字號:
%AZ_DH_DX Measurement derivative function for EKF.with 2d attributes%% \V{x} = [x y vx vy a1 a2]^T%% dh_dx = -(y-sy) / (x-sx)^2 * 1 / (1 + (y-sy)^2 / (x-sx)^2)% = -(y-sy) / ((x-sx)^2 + (y-sy)^2)% dh_dy = 1 / (x-sx) * 1 / (1 + (y-sy)^2 / (x-sx)^2)% = (x-sx) / ((x-sx)^2 + (y-sy)^2)% da_da1 = 1% da_da2 = 1% Copyright (C) 2003 Simo S鋜kk?? 快捷鍵說明
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