residualaltimeter

Residuals and residual covariance from altimeter measurements for ahrs10filter

Since R2020a

Syntax

[res,resCov] = residualaltimeter(FUSE,altimeterReadings,altimeterReadingsCovariance)

Description

[res,resCov] = residualaltimeter(FUSE,altimeterReadings,altimeterReadingsCovariance) computes the residual, res, and the innovation covariance, resCov, based on the magnetometer readings and the corresponding covariance.

Input Arguments

FUSE — ahrs10filter

ahrs10filter | object

ahrs10filter, specified as an object.

altimeterReadings — Altimeter readings (m)

real scalar

Altimeter readings in meters, specified as a real scalar.

Data Types: single | double

altimeterReadingsCovariance — Altimeter readings error covariance (m²)

real scalar

Altimeter readings error covariance in m², specified as a real scalar.

Data Types: single | double

Output Arguments

res — Measurement residual

scalar

Measurement residual, returned as a scalar in meters.

resCov — Residual covariance

nonnegative scalar

Residual covariance, returned as a nonnegative scalar in m².

Extended Capabilities

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

Version History

Introduced in R2020a