Reference

Iapetus is a package for learning, exploring, developing, testing, demonstrating and sharing object filtering (a.k.a. target tracking) approaches and implementations.

The core module contains tools for which frequent updates or revisions are not anticipated.

State transition matrix module.

straight_constant_velocity(dt)

Returns a 2D state transition matrix modeling straight movement with constant velocity.

I.e., an object propagated with this model will move in the same direction without turning at constant speed.

Parameters:

Name	Type	Description	Default
dt	float	time increment (aka sample rate)	required

Source code in iapetus/core/linalg/stm.py

def straight_constant_velocity(dt):
    """Returns a 2D state transition matrix modeling straight movement with
    constant velocity.

    I.e., an object propagated with this model will move in the same
    direction without turning at constant speed.

    Args:
            dt (float): time increment (aka sample rate)
    """

    return np.block(
        [[np.eye(2), np.eye(2) * dt], [np.zeros((2, 2)), np.eye(2)]]
    )