Residuals and residual covariances from direct state measurements for
idx— State vector index of measurement
State vector index of measurement, specified as an N-element vector of increasing integers in the range [1, 22].
The state values represent:
|Orientation (quaternion parts)||1:4|
|Delta Angle Bias (XYZ)||rad||11:13|
|Delta Velocity Bias (XYZ)||m/s||14:16|
|Geomagnetic Field Vector (NED)||µT||17:19|
|Magnetometer Bias (XYZ)||µT||20:22|
measurement— Direct measurement of state
Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument,
res— Measurement residual
Measurement residual, returned as a 1-by-N vector of real values.
resCov— Residual covariance
Residual covariance, returned as a N-by-N matrix of real values.