fusegps

Correct states using GPS data for insfilterErrorState

Syntax

[res,resCov] = fusegps(FUSE,position,positionCovariance)

[res,resCov] = fusegps(FUSE,position,positionCovariance,velocity,velocityCovariance)

Description

[res,resCov] = fusegps(FUSE,position,positionCovariance) fuses GPS position data to correct the state estimate.

[res,resCov] = fusegps(FUSE,position,positionCovariance,velocity,velocityCovariance) fuses GPS position and velocity data to correct the state estimate.

Examples

Fuse GPS Data Using insfilterErrorState

Create an insfilterErrorState object and display its state.

filter = insfilterErrorState;
disp(filter.State')

     1     0     0     0     0     0     0     0     0     0     0     0     0     0     0     0     1

Fuse a GPS position measurement with its covariance.

position = [5 3 2] % in deg deg meters;

position = 1×3

     5     3     2

positionCovariance = diag([1 1 1]);
[res,resCovariance] = fusegps(filter,position,positionCovariance)

res = 1×3
105 ×

    5.5218    3.3254    0.3282

resCovariance = 3×3

     2     1     1
     1     2     1
     1     1     2

Display the state after the fusing.

disp(filter.State')

   1.0e+05 *

    0.0000   -0.0000   -0.0000   -0.0000    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939    2.2939

Input Arguments

FUSE — INS filter object

insfilterErrorState

insfilterErrorState, specified as an object.

position — Position of GPS receiver (LLA)

3-element row vector

Position of GPS receiver in geodetic latitude, longitude, and altitude (LLA) specified as a real finite 3-element row vector. Latitude and longitude are in degrees with north and east being positive. Altitude is in meters.

Data Types: single | double

positionCovariance — Position measurement covariance of GPS receiver (m²)

scalar | 3-element row vector | 3-by-3 matrix

Position measurement covariance of GPS receiver in m², specified as a 3-by-3 matrix.

Data Types: single | double

velocity — Velocity of GPS receiver in local NED coordinate system (m/s)

3-element row vector

Velocity of the GPS receiver in the local NED coordinate system in m/s, specified as a 3-element row vector.

Data Types: single | double

velocityCovariance — Velocity measurement covariance of GPS receiver (m²/s²)

scalar | 3-element row vector | 3-by-3 matrix

Velocity measurement covariance of the GPS receiver in the local NED coordinate system in (m²/s²), specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

res — Position and velocity residual

1-by-6 vector of real values

Position and velocity residual, returned as a 1-by-6 vector of real values in m and m/s, respectively.

resCov — Innovation residual

6-by-6 matrix of real values

Innovation residual, returned as a 6-by-6 matrix of real values.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019a