fusegyro

Correct states using gyroscope data for insfilterAsync

Syntax

[res,resCov] = fusegyro(FUSE,gyroReadings,gyroCovariance)

Description

[res,resCov] = fusegyro(FUSE,gyroReadings,gyroCovariance) fuses gyroscope data to correct the state estimate.

Examples

Fuse Gyroscope Data Using insfilterAsync

Create an insfilterAsync object and display its state.

filter = insfilterAsync;
disp(filter.State')

    1.0000         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Fuse an gyroscope measurement with its covariance.

angularVel = [1 1 1] 

angularVel = 1×3

     1     1     1

angularVelCovariance = 0.01*diag([1 1 1]);
[res,resCovariance] = fusegyro(filter,angularVel,angularVelCovariance)

res = 1×3

     1     1     1

resCovariance = 3×3

    0.0120         0         0
         0    0.0120         0
         0         0    0.0120

Display the state after the fusing.

disp(filter.State')

    1.0000         0         0         0    0.0833    0.0833    0.0833         0         0         0         0         0         0         0         0         0         0         0         0    0.0833    0.0833    0.0833   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

FUSE — insfilterAsync object

object

insfilterAsync, specified as an object.

gyroReadings — Gyroscope readings in local sensor body coordinate system (rad/s)

3-element row vector

Gyroscope readings in local sensor body coordinate system in rad/s, specified as a 3-element row vector.

Data Types: single | double

gyroCovariance — Covariance of gyroscope measurement error ((rad/s)²)

scalar | 3-element row vector | 3-by-3 matrix

Covariance of gyroscope measurement error in (rad/s)², specified as a scalar, 3-element row vector, or 3-by-3 matrix.

Data Types: single | double

Output Arguments

res — Residual

1-by-3 vector of real values

Residual, returned as a 1-by-3 vector of real values in rad/s.

resCov — Residual covariance

3-by-3 matrix of real values

Residual covariance, returned as a 3-by-3 matrix of real values in (rad/s)².

Extended Capabilities

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

Version History

Introduced in R2019a