correct

Correct states using direct state measurements for insfilterMARG

Syntax

correct(FUSE,idx,measurement,measurementCovariance)

Description

correct(FUSE,idx,measurement,measurementCovariance) corrects the state and state estimation error covariance based on the measurement and measurement covariance. The measurement maps directly to the state specified by the indices idx.

Examples

Correct insfilterMARG Using Direct Measurement

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

Fuse a position measurement with its corresponding covariance.

idx = [5 6 7];
measure = [10 10 0];
measureCov = 1e-4*diag([5 5 5]);
correct(filter,idx,measure,measureCov)

Display the state after the fusing.

disp(filter.State')

    1.0000         0         0         0    0.0200    0.0200         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

FUSE — insfilterMARG object

object

insfilterMARG, specified as an object.

idx — State vector Index of measurement to correct

N-element vector of increasing integers in the range [1,22]

State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1, 22].

The state values represent:

State	Units	Index
Orientation (quaternion parts)		1:4
Position (NED)	m	5:7
Velocity (NED)	m/s	8:10
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

Data Types: single | double

measurement — Direct measurement of state

N-element vector

Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument, idx.

Data Types: single | double

measurementCovariance — Covariance of measurement

scalar | N-element vector | N-by-N matrix

Covariance of measurement, specified as a scalar, N-element vector, or N-by-N matrix. N is the number of elements of the index argument, idx.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2018b