states.KalmanCentroid3D
class KalmanCentroid3D:Constant-velocity 3-D centroid Kalman process.
State is 6-D ``[x, y, z, vx, vy, vz]``; measurement is 3-D
``[x, y, z]``. The state-transition matrix injects ``dt`` into each
position-velocity cross-term, and ``H`` reads the leading three entries
(position). Process noise is parameterised as ``q * I_6`` and
integrated as per-unit-time noise; measurement noise is ``r * I_3``.
Parameters
| Name | Type | Description |
|---|---|---|
| field = 'centroid' | str | Field name for the centroid mean. Covariance lives in ``f"{field}_cov"``. |
| q = 0.01 | float | Per-unit-time process-noise scale. |
| r = 0.1 | float | Measurement-noise scale. |
Members
method
- __call__Advance centroid mean and covariance by one predict step.
- __init__
- make_updateConstruct a matching KalmanUpdate for the 3D centroid observation.
- state_entriesReturn ``(mean, cov)`` :class:`~unitrack.states.State` entries for ``Tracker``.
Source: unitrack/states/kalman/centroid.py:148