predict

Update states using accelerometer and gyroscope data for insfilterNonholonomic

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Syntax

predict(FUSE,accelReadings,gyroReadings)

Description

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

example

Examples

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Predict State Using `insfilterNonholonomic`

Open Live Script

Create an insfilterNonholonomic object and display its state.

filter = insfilterNonholonomic;
disp(filter.State')

     1     0     0     0     0     0     0     0     0     0     0     0     0     0     0     0

Predict the state of the filter based on an accelerometer reading of [1 1 1] $m / s^{2}$ 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    0.0050    0.0050         0         0         0         0         0         0         0   -0.0100   -0.0100    0.0881         0         0         0

Input Arguments

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`FUSE` — `insfilterNonholonomic` object
object

insfilterNonholonomic, specified as an object.

`accelReadings` — Accelerometer readings in local sensor body coordinate system (m/s²)
3-element row vector

Accelerometer readings in m/s², specified as a 3-element row vector.

Data Types: single | double

`gyroReadings` — Gyroscope readings in local sensor body coordinate system (rad/s)
3-element row vector

Gyroscope readings in rad/s, specified as a 3-element row vector.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2018b

predict

Syntax

Description

Examples

Predict State Using insfilterNonholonomic

Input Arguments

FUSE — insfilterNonholonomic object object

accelReadings — Accelerometer readings in local sensor body coordinate system (m/s2) 3-element row vector

gyroReadings — Gyroscope readings in local sensor body coordinate system (rad/s) 3-element row vector