I have my state vector containing(adsbygoogle = window.adsbygoogle || []).push({});

$$[X, Y, v_x, v_y, \theta, r, a_x, a_y, b_{\theta}]^T$$

and I have them related by

$$dX = v_x cos \theta - v_y sin \theta\\

dY = v_x sin \theta + v_y cos \theta\\

dv_x = a_x\\

dv_y = a_y\\

d\theta = r\\

dr = 0\\

da_x = 0\\

da_y = 0\\

db_\theta = 0\\

$$

Now I'm actually lost in how to go about in converting them to my state transition matrix representation. Can anyone chime in and help me along please? Thank you.

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# Kalman filter, model to matrix

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