%% Measurement Jacobian of Constant Turn-Rate Motion in Spherical Frame
% Define the state of an object in 2-D constant turn-rate motion. The state is the position and velocity in each dimension, and the turn rate. Compute the measurement Jacobian with respect to spherical coordinates.

state = [1;10;2;20;5];
measurementjac = ctmeasjac(state,'spherical')

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