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residual

Residuals and residual covariances from direct state measurements for insfilterMARG

Since R2020a

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Syntax

[res, resCov]= residual(FUSE,idx,measurement,measurementCovariance)

Description

[res, resCov]= residual(FUSE,idx,measurement,measurementCovariance) computes the residual, res, and the residual covariance, resCov, based on the direct state measurement and measurement covariance. The measurement maps directly to the states specified by indices, idx.

example

Examples

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Open Live Script

Create an insfilterMARG object and display its state.

filter = insfilterMARG;
disp(filter.State')
    1.0000         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Specify a measurement of altitude and vertical velocity.

idx = [5 6 7];
measure = [10 20 30];
measureCov = 1e-2*diag([5 5 5]);

Obtain the residual for the measurement.

[res,rescov] = residual(filter,idx,measure,measureCov)
res = 1×3

    10    20    30


rescov = 3×3

    0.0500         0         0
         0    0.0500         0
         0         0    0.0500

Input Arguments

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insfilterMARG, specified as an object.

State vector index of measurement, specified as an N-element vector of increasing integers in the range [1, 22].

The state values represent:

StateUnitsIndex
Orientation (quaternion parts) 1:4
Position (NED)m5:7
Velocity (NED)m/s8:10
Delta Angle Bias (XYZ)rad11:13
Delta Velocity Bias (XYZ)m/s14:16
Geomagnetic Field Vector (NED)µT17:19
Magnetometer Bias (XYZ)µT20:22

Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument, idx.

Covariance of measurement, specified as an N-by-N matrix. N is the number of elements of the index argument, idx.

Output Arguments

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Measurement residual, returned as a 1-by-N vector of real values.

Residual covariance, returned as a N-by-N matrix of real values.

Version History

Introduced in R2020a

See Also