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Residuals and residual covariance from gyroscope measurements for insfilterAsync


[res,resCov] = residualgyro(FUSE,gyroReadings,gyroCovariance) computes the residual, res, and the innovation covariance, resCov, based on the gyroscope readings and the corresponding covariance.

Input Arguments

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insfilterAsync, specified as an object.

Gyroscope readings in local sensor body coordinate system in rad/s, specified as a 3-element row vector.

Data Types: single | double

Covariance of gyroscope measurement error in (rad/s)2, 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 rad/s.

Residual covariance, returned as a 3-by-3 matrix of real values in (rad/s)2.

Extended Capabilities

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

Version History

Introduced in R2020a