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dstl / Stone-Soup

A software project to provide the target tracking community with a framework for the development and testing of tracking algorithms.
https://stonesoup.rtfd.io
MIT License
388 stars 128 forks source link

Implement analytic Jacobian for CartesianToElevationBearingRangeRate. #772

Closed mattbrown11 closed 1 year ago

mattbrown11 commented 1 year ago

Implemented an analytic expression for the Jacobian of CartesianToElevationBearingRangeRate. This is a more-accurate calculation than the baseline numerical Jacobian calculation. Also, on my system, this sped up the calculation from 500 usec to 80 usec.