Residuals and residual covariances from direct state measurements for
idx — State vector Index of measurement to correct
N-element vector of increasing integers in the range
State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1,16].
The state values represent:
|Orientation (quaternion parts)||1:4|
|Gyroscope bias (XYZ)||rad/s||5:7|
|Accelerometer Bias (XYZ)||m/s2||14:16|
measurement — Direct measurement of state
Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument,
res — Measurement residual
1-by-N vector of real values
Measurement residual, returned as a 1-by-N vector of real values.
resCov — Residual covariance
N-by-N matrix of real values
Residual covariance, returned as a N-by-N matrix of real values.