Could you mind to help me : Design the Numerical Extended Kalman Filter using Simulink?

Hello. I am Deukwon Ko.

I need your expertise.

Currently I would like to configure an extended Kalman filter using Simulink.

So before that we have to construct the Jacobian matrix. The Jacobian matrix is a simple matrix that only needs to be differentiated, but in the case of aircraft, the equation of motion is complex, so I am trying to generate the Jacobian numerically. But there are so many things you don't know, so we need a friendly expert to answer your questions. Is there anyone who can answer my question?