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Residuals and residual covariance from magnetometer measurements for insfilterMARG


[res,resCov] = residualmag(FUSE,magReadings,magReadingsCovariance) computes the residual, residual, and the residual covariance, resCov, based on the magnetometer readings and the corresponding covariance.

Input Arguments

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insfilterMARG, specified as an object.

Magnetometer readings in µT, specified as a 3-element row vector of finite real numbers.

Data Types: single | double

Magnetometer readings error covariance in µT2, specified as a scalar, 3-element row vector, or 3-by-3 matrix.

Data Types: single | double

Output Arguments

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Residual, returned as a 1-by-3 vector of real values in µT.

Data Types: single | double

Residual covariance, returned a 3-by-3 matrix of real values in (µT)2.

Introduced in R2020a