Residuals and residual covariances from direct state measurements for
idx — State vector index of measurement to correct
N-element vector of increasing integers in the range
State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1,18].
The state values represent:
|Orientation (quaternion parts)||N/A||1:4|
|Vertical Velocity (NED)||m/s||6|
|Delta Angle Bias (XYZ)||rad/s||7:9|
|Delta Velocity Bias (XYZ)||m/s||10:12|
|Geomagnetic Field Vector (NED)||μT||13:15|
|Magnetometer Bias (XYZ)||μT||16:18|
measurement — Direct measurement of state
Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument,
res — Measurement residual
1-by-N vector of real values
Measurement residual, returned as a 1-by-N vector of real values.
resCov — Residual covariance
N-by-N matrix of real values
Residual covariance, returned as a N-by-N matrix of real values.