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residualgps

Residuals and residual covariance from GPS measurements for insfilterMARG

Since R2020a

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Syntax

[res,resCov] = residualgps(FUSE,position,positionCovariance)
[res,resCov] = residualgps(FUSE,position,positionCovariance,velocity,velocityCovariance)

Description

[res,resCov] = residualgps(FUSE,position,positionCovariance) computes the residual, res, and the residual covariance, resCov, based on the GPS position measurement and covariance.

example

[res,resCov] = residualgps(FUSE,position,positionCovariance,velocity,velocityCovariance) computes the residual, res, and the residual covariance, resCov, based on the GPS position measurement and covariance.

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

Define GPS data with a position reading and a covariance. 

position = [5 3 2] % in deg deg meters
position = 1×3

     5     3     2


positionCovariance = diag([1 1 1]);

Obtain the residual of the data.

[res,resCovariance] = residualgps(filter,position,position)
res = 1×3
105 ×

    5.5218    3.3254    0.3282


resCovariance = 3×3

    5.0000         0         0
         0    3.0000         0
         0         0    2.0000

Input Arguments

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insfilterMARG, specified as an object.

Position of GPS receiver in geodetic latitude, longitude, and altitude (LLA) specified as a real finite 3-element row vector. Latitude and longitude are in degrees with north and east being positive. Altitude is in meters.

Data Types: single | double

Position measurement covariance of GPS receiver in m2, specified as a 3-by-3 matrix.

Data Types: single | double

Velocity of the GPS receiver in the local NED coordinate system in m/s, specified as a 3-element row vector.

Data Types: single | double

Velocity measurement covariance of the GPS receiver in the local NED coordinate system in m2/s2, specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

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Position and velocity residual, returned as a 1-by-3 vector of real values if the inputs only contain position information, and returned as 1-by-6 vector of real values if the inputs also contain velocity information.

Residual covariance, returned as a 3-by-3 matrix of real values if the inputs only contain position information, and a 6-by-6 matrix of real values if the inputs also contain velocity information.

Version History

Introduced in R2020a

See Also

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