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I am currently learning and trying to build an extended kalman filter. However I am not sure how to created the measurement matrix. The measurement matrix H is described using formula 3.6 on page 18 of this document

http://www.scribd.com/doc/54702247/UAV-Design [Broken]

My problem is that i do not understand how to operate that formula or what data i need to operate it. Is there any one who could make sense of the equation and explain it to me.

Thanks in advance.

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# Extended Kalman Filter : Measurement Matrix

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