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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
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Added support for a 4D state vector when using a range, bearing, range rate radar model #809

Open PACarniglia opened 1 year ago

PACarniglia commented 1 year ago

The RadarBearingRangeRate2D sensor and associated CartesianToBearingRangeRate2D measurement model were created to support tracking from measurements of bearing, range, and range rate to a 4D state space [x, vx, y, vy]. The current RadarBearingRangeRate/CartesianToBearingRangeRate class only supports a 6D state vector [x, vx, y, vy, z, vz] as a requirement for the creation of the rotation matrix.

Additionally, both measurement models were given inverse functions to support plotting measurements to a Cartesian plot space.

gawebb-dstl commented 1 year ago

Some conversation about this on PR #285