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residualgps

Residuals and residual covariance from GPS measurements for insfilterNonholonomic

Description

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

[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.

Input Arguments

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insfilterNonholonomic, 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 m/s2, specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

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Position and course residual, returned as a 1-by-3 vector of real values the inputs only contain position information, and returned as a 1-by-4 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 4-by-4 vector of real values if the inputs also contain velocity information.

Extended Capabilities

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

Introduced in R2020a