# cvmeasmscjac

Jacobian of measurement using constant velocity (CV) model in MSC frame

## Syntax

## Description

calculates the Jacobian with respect to angular measurement (azimuth and elevation) of the
state in the sensor frame. The motion can be either in 2-D or 3-D space. If motion model is
in 2-D space, values corresponding to elevation are assumed to be zero.`measurementJac`

= cvmeasmscjac(`state`

)

The `trackingEKF`

and `trackingMSCEKF`

filters require a definition of the `MeasurementJacobianFcn`

property.
The `cvmeasmscjac`

function can be used as the
`MeasurementJacobianFcn`

. To use this
`MeasurementFcn`

with `trackerGNN`

and
`trackerTOMHT`

, you
can use the `trackingMSCEKF`

filter.

provides the Jacobian measurement in the frame specified. The allowed values for frame are
`measurementJac`

= cvmeasmscjac(`state`

,`frame`

)`'rectangular'`

and `'spherical'`

.

specifies the axes of the sensor's coordinate system. The `measurementJac`

= cvmeasmscjac(`state`

,`frame`

,`laxes`

)`laxes`

input
is a 3-by-3 matrix with each column specifying the direction of local *x*,
*y*, and *z* axes in the sensor coordinate system. The
default for `laxes`

is [`1 0 0;0 1 0;0 0 1`

].

specifies the measurement parameters as a struct.`measurementJac`

= cvmeasmscjac(`state`

,`measurementParameters`

)

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2018b**