residualaccel

Residuals and residual covariance from accelerometer measurements for insfilterAsync

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Syntax

[res,resCov] = residualaccel(FUSE,acceleration,accelerationCovariance)

Description

[res,resCov] = residualaccel(FUSE,acceleration,accelerationCovariance) computes the residual, res, and the residual covariance, resCov, based on the acceleration readings and the corresponding covariance.

example

Examples

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Open Live Script

Create an insfilterAsync object and display its state.

filter = insfilterAsync;
disp(filter.State')
    1.0000         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Define an accelerometer measurement with its covariance. 

acceleration = [0 -9.8 0] 
acceleration = 1×3

         0   -9.8000         0


accelCovariance = 0.01*diag([1 1 1]);

Obtain the residual of the data.

[res,resCovariance] = residualaccel(filter,acceleration,accelCovariance)
res = 1×3

         0   -9.8000   -9.8100


resCovariance = 3×3

    0.3969         0         0
         0    0.3969         0
         0         0    0.3969

Input Arguments

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insfilterAsync, specified as an object.

Accelerometer readings in local sensor body coordinate system in m/s2, specified as a 3-element row vector

Data Types: single | double

Acceleration error covariance of the accelerometer measurement in (m/s2)2, specified as a scalar, 3-element row vector, or 3-by-3 matrix.

Data Types: single | double

Output Arguments

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Residual, returned a 1-by-3 vector of real values in m/s2.

Residual covariance, returned a 3-by-3 matrix of real values in (m/s2)2.

Extended Capabilities

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

Version History

Introduced in R2020a

See Also

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