correct

Correct states using direct state measurements for insfilterNonholonomic

Since R2018b

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.

Input Arguments

FUSE — insfilterNonholonomic object

object

insfilterNonholonomic, specified as an object.

idx — State vector Index of measurement to correct

N-element vector of increasing integers in the range [1,16]

State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1,16].

The state values represent:

State	Units	Index
Orientation (quaternion parts)		1:4
Gyroscope bias (XYZ)	rad/s	5:7
Position (NED)	m	8:10
Velocity (NED)	m/s	11:13
Accelerometer Bias (XYZ)	m/s2	14:16

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