correct

Correct the state and state estimation error covariance

Syntax

xCorr = correct(abfilter,zMeas)

[xCorr,pCorr] = correct(abfilter,zMeas)

[xCorr,pCorr,zCorr] = correct(abfilter,zMeas)

Description

xCorr = correct(abfilter,zMeas) returns the corrected the state, xCorr, of the tracking filter abfilter given the measurement, zMeas. Calling correct overwrites the internal states of the object.

[xCorr,pCorr] = correct(abfilter,zMeas) also returns the corrected state covariance matrix, pCorr.

[xCorr,pCorr,zCorr] = correct(abfilter,zMeas) also returns the corrected measurement, zCorr.

Input Arguments

abfilter — Alpha-beta tracking filter

phased.AlphaBetaFilter object

Alpha-beta tracking filter, specified as a phased.AlphaBetaFilter object. Calling correct overwrites the internal states of the object.

zMeas — Measurement of tracked object

K-by-1 vector

Measurement of tracked object, specified as a K-by-1 vector, where K is the size of the measurement.

Output Arguments

xCorr — Corrected state of the filter

L-by-1 vector

Corrected state of the filter, returned as an L-by-1 vector. The corrected state overrides the value of the State property.

pCorr — Corrected state covariance of the filter

L-by-L matrix

Corrected state covariance of the filter, returned as an L-by-L matrix. The corrected state covariance overrides the value of the StateCovariance property.

zCorr — Corrected measurement of the filter

K-by-1 vector

Corrected measurement of the filter, returned as a K-by-1 vector.

Extended Capabilities

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

Version History

Introduced in R2018b