https://it.mathworks.com/help/fusion/ref/trackingmscekf.html
trackingMSCEKF - Extended Kalman filter for object tracking in modified spherical coordinates (MSC)...
The trackingMSCEKF object represents an extended Kalman filter (EKF) for object tracking in modified spherical coordinates (MSC) using angle-only measurements...
extended kalman filterobject tracking