initialize

Initialize state and covariance of tracking filter

Syntax

initialize(filter,state,statecov)

initialize(filter,state,statecov,Name,Value)

Description

initialize(filter,state,statecov) initializes the filter by setting the State and StateCovariance properties of the filter with the corresponding state and statecov inputs.

initialize(filter,state,statecov,Name,Value) also initializes properties of filter by using one or more name-value pairs. Specify the name of the filter property and the value to which you want to initialize it. You cannot change the size or type of the properties that you initialize.

Input Arguments

filter — Filter for object tracking

trackingKF object | trackingEKF object | trackingUKF object | trackingIMM object | trackingPF object | trackingMSCEKF object

Filter for object tracking, specified as one of these objects:

• trackingKF — Linear Kalman filter

• trackingEKF — Extended Kalman filter

• trackingUKF — Unscented Kalman filter

• trackingIMM — Interacting multiple model (IMM) filter

• trackingPF — Particle filter

• trackingMSCEKF — Extended Kalman filter using modified spherical coordinates (MSC)

state — Filter state

real-valued M-element vector

Filter state, specified as a real-valued M-element vector, where M is the size of the filter state.

Example: [200; 0.2]

Data Types: double

statecov — State estimation error covariance

positive-definite real-valued M-by-M matrix

State estimation error covariance, specified as a positive-definite real-valued M-by-M matrix. M is the size of the filter state. The covariance matrix represents the uncertainty in the filter state.

Example: [20 0.1; 0.1 1]

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2018b