residualgyro

Residuals and residual covariance from gyroscope measurements for insfilterAsync

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Syntax

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

Description

[res,resCov] = residualgyro(FUSE,gyroReadings,gyroCovariance) computes the residual, res, and the innovation covariance, resCov, based on the gyroscope readings and the corresponding covariance.

example

Examples

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Open Live Script

Create an insfilterAsync object and display its state.

filter = insfilterAsync;
disp(filter.State')
    1.0000         0         0         0         0         0         0         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 an gyroscope measurement with its covariance. 

angularVel = [1 1 1] 
angularVel = 1×3

     1     1     1


angularVelCovariance = 0.01*diag([1 1 1]);

Obtain the residual of the data.

[res,resCovariance] = residualgyro(filter,angularVel,angularVelCovariance)
res = 1×3

     1     1     1


resCovariance = 3×3

    0.0120         0         0
         0    0.0120         0
         0         0    0.0120

Input Arguments

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insfilterAsync, specified as an object.

Gyroscope readings in local sensor body coordinate system in rad/s, specified as a 3-element row vector.

Data Types: single | double

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

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Residual, returned as a 1-by-3 vector of real values in rad/s.

Residual covariance, returned as a 3-by-3 matrix of real values in (rad/s)2.

Extended Capabilities

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

Version History

Introduced in R2020a

See Also

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