predict

Update states using accelerometer and gyroscope data for ahrs10filter

Syntax

predict(FUSE,accelReadings,gyroReadings)

Description

predict(FUSE,accelReadings,gyroReadings) fuses accelerometer and gyroscope data to update the state estimate.

Examples

Predict State Using ahrs10filter

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

Predict the state of the filter based on an accelerometer reading of [1 1 1] $\mathrm{m}/{\mathrm{s}}^2$ and a gyroscope reading of [1 1 0] rad/s. Display the state.

predict(filter,[1 1 1],[1 1 0])
disp(filter.State')

    1.0000    0.0025    0.0025         0         0    0.0441         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

FUSE — ahrs10Filter object

object

Object of ahrs10filter.

accelReadings — Accelerometer readings in the sensor body coordinate system (m/s²)

N-by-3 matrix

Accelerometer readings in local sensor body coordinate system in m/s², specified as an N-by-3 matrix. N is the number of samples, and the three columns of accelReadings represent the [x y z] measurements. Accelerometer readings are assumed to correspond to the sample rate specified by the IMUSampleRate property.

Data Types: single | double

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

N-by-3 matrix

Gyroscope readings in the sensor body coordinate system in rad/s, specified as an N-by-3 matrix. N is the number of samples, and the three columns of gyroReadings represent the [x y z] measurements. Gyroscope readings are assumed to correspond to the sample rate specified by the IMUSampleRate property.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2019a