%% Create 3-D Constant Velocity EKF from Spherical Measurement
% Initialize a 3-D constant-velocity extended Kalman filter from an initial detection report made from a 3-D measurement in spherical coordinates. If you want to use spherical coordinates, then you must supply a measurement parameter structure as part of the detection report with the Frame field set to 'spherical'. Set the azimuth angle of the target to 45 degrees, the elevation to -10 degrees, the range to 1000 meters, and the range rate to -4.0 m/s.

frame = 'spherical';
sensorpos = [25,-40,0].';
sensorvel = [0;5;0];
laxes = eye(3);
measparms = struct('Frame',frame,'OriginPosition',sensorpos, ...
    'OriginVelocity',sensorvel,'Orientation',laxes,'HasVelocity',true, ...
    'HasElevation',true);
meas = [45;-10;1000;-4];
measnoise = diag([3.0,2.5,2,1.0].^2);
detection = objectDetection(0,meas,'MeasurementNoise', ...
    measnoise,'MeasurementParameters',measparms)
filter = initcvekf(detection);

%
% Filter state vector.

disp(filter.State)

% Copyright 2012 The MathWorks, Inc.
%