residualgps

Residuals and residual covariance from GPS measurements for insfilterMARG

Since R2020a

Syntax

[res,resCov] = residualgps(FUSE,position,positionCovariance)

[res,resCov] = residualgps(FUSE,position,positionCovariance,velocity,velocityCovariance)

Description

[res,resCov] = residualgps(FUSE,position,positionCovariance) computes the residual, res, and the residual covariance, resCov, based on the GPS position measurement and covariance.

[res,resCov] = residualgps(FUSE,position,positionCovariance,velocity,velocityCovariance) computes the residual, res, and the residual covariance, resCov, based on the GPS position measurement and covariance.

Examples

Obtain GPS Data Residual from insfilterMARG

Create an insfilterMARG object and display its state.

filter = insfilterMARG;
disp(filter.State')

    1.0000         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 GPS data with a position reading and a covariance.

position = [5 3 2] % in deg deg meters

position = 1×3

     5     3     2

positionCovariance = diag([1 1 1]);

Obtain the residual of the data.

[res,resCovariance] = residualgps(filter,position,position)

res = 1×3
105 ×

    5.5218    3.3254    0.3282

resCovariance = 3×3

    5.0000         0         0
         0    3.0000         0
         0         0    2.0000

Input Arguments

FUSE — insfilterMARG object

object

insfilterMARG, specified as an object.

position — Position of GPS receiver (LLA)

3-element row vector

Position of GPS receiver in geodetic latitude, longitude, and altitude (LLA) specified as a real finite 3-element row vector. Latitude and longitude are in degrees with north and east being positive. Altitude is in meters.

Data Types: single | double

positionCovariance — Position measurement covariance of GPS receiver (m²)

3-by-3 matrix

Position measurement covariance of GPS receiver in m², specified as a 3-by-3 matrix.

Data Types: single | double

velocity — Velocity of GPS receiver in local NED coordinate system (m/s)

3-element row vector

Velocity of the GPS receiver in the local NED coordinate system in m/s, specified as a 3-element row vector.

Data Types: single | double

velocityCovariance — Velocity measurement covariance of GPS receiver (m²/s²)

3-by-3 matrix

Velocity measurement covariance of the GPS receiver in the local NED coordinate system in m²/s², specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

res — Position and velocity residual

1-by-3 vector of real values | 1-by-6 vector of real values

Position and velocity residual, returned as a 1-by-3 vector of real values if the inputs only contain position information, and returned as 1-by-6 vector of real values if the inputs also contain velocity information.

resCov — Residual covariance

3-by-3 matrix of real values | 6-by-6 matrix of real values

Residual covariance, returned as a 3-by-3 matrix of real values if the inputs only contain position information, and a 6-by-6 matrix of real values if the inputs also contain velocity information.

Version History

Introduced in R2020a