State Covariance in tracking IMM

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Usman
Usman el 4 de Nov. de 2025 a las 5:42
I have extracted state Covariance from a track filter and used it to construct a new IMM filter. But after assigning the values the filter's state covariance changes.
a = getTrackFilterProperties(obj,track.TrackID,'TrackingFilters','ModelConversionFcn','TransitionProbabilities',...
'ModelProbabilities','State','StateCovariance','MeasurementNoise','HasMeasurementWrapping','MaxNumSmoothingSteps',...
'EnableSmoothing','MaxNumOOSMSteps');
filter = trackingIMM('State',a{5},'StateCovariance',a{6},...
'TransitionProbabilities',a{3},'TrackingFilters',a{1},...
'ModelConversionFcn',a{2},'ModelProbabilities',a{4},'MeasurementNoise',a{7});
The results I get are these:
filter.StateCovariance == a{6}
ans =
6×6 logical array
1 0 1 1 1 1
0 1 0 1 1 1
1 0 1 1 1 1
1 1 1 1 1 1
1 1 1 1 0 1
1 1 1 1 1 1
For a side-by-side comparison:
[filter.StateCovariance,a{6}]

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R2025a

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