# correct

Correct states using direct state measurements for ahrs10filter

Since R2019a

## Description

example

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.

## Examples

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Create an ahrs10filter object and display its state.

filter = ahrs10filter;
disp(filter.State')
1.0000         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Fuse altimeter data with a reading and a covariance using the correct object function.

idx = [5 6];
measure = [500 10];
measureCov = diag([5 1])*1e-6;
correct(filter,idx,measure,measureCov)

Display the state after the fusing.

disp(filter.State')
1.0000         0         0         0   83.3333    5.0000         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

## Input Arguments

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Object of ahrs10filter.

State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1,18].

The state values represent:

StateUnitsIndex
Orientation (quaternion parts)N/A1:4
Altitude (NED)m5
Vertical Velocity (NED)m/s6
Delta Angle Bias (XYZ)rad/s7:9
Delta Velocity Bias (XYZ)m/s10:12
Geomagnetic Field Vector (NED)μT13:15
Magnetometer Bias (XYZ)μT16:18

Data Types: single | double

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

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

## Version History

Introduced in R2019a