correct

Correct states using direct state measurements for insfilterAsync

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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

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insfilterAsync, specified as an object.

State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1, 28].

The state values represent:

StateUnitsIndex
Orientation (quaternion parts)N/A1:4
Angular Velocity (XYZ)rad/s5:7
Position (NED)m8:10
Velocity (NED)m/s11:13
Acceleration (NED)m/s214:16
Accelerometer Bias (XYZ)m/s217:19
Gyroscope Bias (XYZ)rad/s20:22
Geomagnetic Field Vector (NED)μT23:25
Magnetometer Bias (XYZ)μT26:28

Data Types: single | double

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

Data Types: single | double

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™.

See Also

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Introduced in R2019a

Sensor Fusion and Tracking Toolbox Documentation

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