fusegyro

Correct states using gyroscope data for insfilterAsync

Since R2019a

Syntax

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

Description

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

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