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Residuals and residual covariances from direct state measurements for insfilterNonholonomic

Since R2020a



[res, resCov]= residual(FUSE,idx,measurement,measurementCovariance) computes the residual, res, and the residual covariance, resCov, based on the direct state measurement and measurement covariance. The measurement maps directly to the states specified by indices, idx.


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Create an insfilterNonholonomic object and display its state.

filter = insfilterNonholonomic;
     1     0     0     0     0     0     0     0     0     0     0     0     0     0     0     0

Specify a measurement of altitude and vertical velocity.

idx = [8 9 10];
measure = [10 20 30];
measureCov = 1e-2*diag([5 5 5]);

Obtain the residual for the measurement.

[res,rescov] = residual(filter,idx,measure,measureCov)
res = 1×3

    10    20    30

rescov = 3×3

    1.0500         0         0
         0    1.0500         0
         0         0    1.0500

Input Arguments

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insfilterNonholonomic, specified as an object.

State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1,16].

The state values represent:

Orientation (quaternion parts) 1:4
Gyroscope bias (XYZ)rad/s5:7
Position (NED)m8:10
Velocity (NED)m/s11:13
Accelerometer Bias (XYZ)m/s214:16

Data Types: single | double

Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument, idx.

Covariance of measurement, specified as an N-by-N matrix. N is the number of elements of the index argument, idx.

Output Arguments

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Measurement residual, returned as a 1-by-N vector of real values.

Residual covariance, returned as a N-by-N matrix of real values.

Extended Capabilities

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

Version History

Introduced in R2020a