reset

Reset internal states for insfilterErrorState

Syntax

reset(FUSE)

Description

reset(FUSE) resets the State, StateCovariance, and internal integrators of FUSE, an insfilterErrorState object, to their default values.

Examples

Reset State of insfilterErrorState

Create an insfilterErrorState object and set its sample rate to 10 Hz.

filter = insfilterErrorState(IMUSampleRate=10);

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 filter state.

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

    0.9975    0.0499    0.0499         0         0         0         0   -0.1000   -0.1000    0.8810         0         0         0         0         0         0    1.0000

Reset and display the filter state.

reset(filter)
disp(filter.State')

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

Input Arguments

FUSE — INS filter object

insfilterErrorState

insfilterErrorState, specified as an object.

Extended Capabilities

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

Version History

Introduced in R2019a