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See this answer for the kinematic model:
http://answers.ros.org/question/221837/robot_localization-ekf-internal-motion-model/
The input message types that the EKF and UKF accept contain direct measurements of state variables, i.e., there is no function to transform between state and measurement space. The messages contain body-frame velocities (or accelerations, for IMU data) and world-frame pose data. As such, I don't use explicit measurement models. I do use the H matrix to control which state variables are applied, however.
I plan on adding more kinematic models, including a 2D model and a model that incorporates sensor bias estimation.
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