PPT Slide

• The state vector of the dynamic system is a set of parameters uniquely describing the track at each point of its trajectory x(z)

  • In our case we have a discrete dynamic system since we measure the track at specific points along its trajectory x(zk)

• The propagation of the discrete dynamic system can be described by the system equation

  (1)
  
  • 
    fk-1: track propagator between detector k-1 and detector k.
    wk-1 : process noise (multiple scattering)

• The state vector is usually not observed directly. The quantities mk measured by the detector k are functions of the state vector

  
  
  (2)
  hk: transformation function
  ek: measurement error

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