fusegps

Correct states using GPS data for insfilterAsync

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Syntax

[res,resCov] = fusegps(FUSE,position,positionCovariance)
[res,resCov] = fusegps(FUSE,position,positionCovariance,velocity,velocityCovariance)

Description

[res,resCov] = fusegps(FUSE,position,positionCovariance) fuses GPS position data to correct the state estimate.

[res,resCov] = fusegps(FUSE,position,positionCovariance,velocity,velocityCovariance) fuses GPS position and velocity data to correct the state estimate.

Input Arguments

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insfilterAsync, specified as an object.

Position of GPS receiver in geodetic latitude, longitude, and altitude (LLA) specified as a real finite 3-element row vector. Latitude and longitude are in degrees with north and east being positive. Altitude is in meters.

Data Types: single | double

Position measurement covariance of GPS receiver in m2, specified as a 3-by-3 matrix.

Data Types: single | double

Velocity of the GPS receiver in the local NED coordinate system in m/s, specified as a 3-element row vector.

Data Types: single | double

Velocity measurement covariance of the GPS receiver in the local NED coordinate system in m/s2, specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

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Position and velocity residual, returned as a 1-by-6 vector of real values in m and m/s, respectively.

Residual covariance, returned as a 6-by-6 matrix of real values.

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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