residualaccel

Residuals and residual covariance from accelerometer measurements for insfilterAsync

Since R2020a

Syntax

[res,resCov] = residualaccel(FUSE,acceleration,accelerationCovariance)

Description

[res,resCov] = residualaccel(FUSE,acceleration,accelerationCovariance) computes the residual, res, and the residual covariance, resCov, based on the acceleration readings and the corresponding covariance.

Input Arguments

FUSE — insfilterAsync

ahrs10filter | object

insfilterAsync, specified as an object.

acceleration — Accelerometer readings in local sensor body coordinate system (m/s²)

3-element row vector

Accelerometer readings in local sensor body coordinate system in m/s², specified as a 3-element row vector

Data Types: single | double

accelerationCovariance — Acceleration error covariance of accelerometer measurement ((m/s²)²)

scalar | 3-element row vector | 3-by-3 matrix

Acceleration error covariance of the accelerometer measurement in (m/s²)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 a 1-by-3 vector of real values in m/s².

resCov — Residual covariance

3-by-3 matrix of real values

Residual covariance, returned a 3-by-3 matrix of real values in (m/s²)².

Extended Capabilities

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

Version History

Introduced in R2020a