predict

Update states using accelerometer and gyroscope data for insfilterErrorState

Syntax

predict(FUSE,accelReadings,gyroReadings)

Description

predict(FUSE,accelReadings,gyroReadings) fuses accelerometer and gyroscope data to update the state estimate.

Examples

Predict State 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

Predict the state of the filter based on an accelerometer reading of [1 1 1] $\mathrm{m}/{\mathrm{s}}^2$ and a gyroscope reading of [1 1 0] rad/s. Display the state.

predict(filter,[1 1 1],[1 1 0])
disp(filter.State')

    1.0000    0.0050    0.0050         0         0         0         0   -0.0100   -0.0100    0.0881         0         0         0         0         0         0    1.0000

Input Arguments

FUSE — INS filter object

insfilterErrorState

insfilterErrorState, specified as an object.

accelReadings — Accelerometer readings in local sensor body coordinate system (m/s²)

3-element row vector

Accelerometer readings in m/s², specified as a 3-element row vector.

Data Types: single | double

gyroReadings — Gyroscope readings in local sensor body coordinate system (rad/s)

3-element row vector

Gyroscope readings in rad/s, specified as a 3-element row vector.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2019a