AWR1642BOOST: What's the EKF observation equation in pplcount demo project?

Hi,

       By "observation equation" do you mean the state update equation? if so below is the equation

Thank u for your answer! I mean the nonlinear function in EKF.

For a simple Kalman Filter example:

X(k)=A X(k-1)+B U(k)+W(k)
Z(k)=H X(k)+V(k);

I call 'A' in the first formula a state transition(update) function, and 'H' in the 2nd formula a observation funtion.

In pplcount the function describes what is the ralationship between state vector X(k) [x, y, dot{x}, dot{y}, dotdot{x}, dotdot{y}] (same as s(n) in your answering) and observation vector Z(k).

In pplcount project, Z(k) = [range, azimuth, velocity], which is a 3x1 vector.