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   Measurement matrix for range and range rate
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   Form:
   [m, h] = HRangeRangeRate( x, d )
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   ------
   Inputs
   ------
   x        (6,:)    State estimate [Position;Velocity] 

   -------
   Outputs
   -------
   m        (2,1)  [range;range rate]
   h        (2,6)  H matrix [Hrange;HRange rate]

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