predict

Update states using accelerometer and gyroscope data

Description

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

Input Arguments

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Object of ahrs10filter.

Accelerometer readings in local sensor body coordinate system in m/s2, specified as an N-by-3 matrix. N is the number of samples, and the three columns of accelReadings represent the [x y z] measurements. Accelerometer readings are assumed to correspond to the sample rate specified by the IMUSampleRate property.

Data Types: single | double

Gyroscope readings in the sensor body coordinate system in rad/s, specified as an N-by-3 matrix. N is the number of samples, and the three columns of gyroReadings represent the [x y z] measurements. Gyroscope readings are assumed to correspond to the sample rate specified by the IMUSampleRate property.

Data Types: single | double

Extended Capabilities

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

Introduced in R2019a