fusegps

Correct states using GPS data for insfilterMARG

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.

Examples

Fuse GPS Data Using insfilterMARG

Create an insfilterMARG object and display its state.

filter = insfilterMARG;
disp(filter.State')

    1.0000         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 a GPS position measurement with its covariance.

position = [5 3 2] % in deg deg meters;

position = 1×3

     5     3     2

positionCovariance = diag([1 1 1]);
[res,resCovariance] = fusegps(filter,position,positionCovariance)

res = 1×3
105 ×

    5.5218    3.3254    0.3282

resCovariance = 3×3

    1.0000         0         0
         0    1.0000         0
         0         0    1.0000

Display the state after the fusing.

disp(filter.State')

    1.0000         0         0         0    0.5522    0.3325    0.0328         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

FUSE — insfilterMARG object

object

insfilterMARG, specified as an object.

position — Position of GPS receiver (LLA)

three-element row vector

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

Data Types: single | double

positionCovariance — Position measurement covariance of GPS receiver (m²)

3-by-3 matrix

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

Data Types: single | double

velocity — Velocity of GPS receiver in local NED coordinate system (m/s)

three-element row vector

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

Data Types: single | double

velocityCovariance — Velocity measurement covariance of GPS receiver (m²/s²)

3-by-3 matrix

Velocity measurement covariance of the GPS receiver in the local NED coordinate system in m²/s², specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

res — Residuals

three-element row vector of real values | six-element row vector of real values

Residuals, returned as either a three-element or six-element row vector of real values depending on which syntax you use. If you use the first syntax to specify only the position and positionCovariance arguments, then res is a three-element row vector of real values containing the xyz-position residuals. If you use the second syntax to additionally specify the velocity and velocityCovariance arguments, then res is a six-element row vector of real values containing the xyz-position and -velocity residuals.

resCov — Residual covariance

3-by-3 matrix of real values | 6-by-6 matrix of real values

Residual covariance, returned as a 3-by-3 or 6-by-6 matrix of real values depending on which syntax you use. If you use the first syntax to specify only the position and positionCovariance arguments, then resCov is a 3-by-3 matrix of real values containing the xyz-position residual covariance. If you use the second syntax to additionally specify the velocity and velocityCovariance arguments, then resCov is a 6-by-6 of real values containing the xyz-position and -velocity residual covariance.

Extended Capabilities

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

Version History

Introduced in R2018b