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Correct filter with OOSM using retrodiction

The `retroCorrect`

function corrects the state estimate and
covariance using an out-of-sequence measurement (OOSM). To use this function, specify the
`MaxNumOOSMSteps`

property of the filter as a positive integer. Before
using this function, you must use the `retrodict`

function to successfully retrodict the current state to the time at which the OOSM was
taken.

`[`

corrects the filter with the OOSM measurement `retroCorrState`

,`retroCorrCov`

] = retroCorrect(`filter`

,`z`

)`z`

and returns the
corrected state and state covariance. The function changes the values of
`State`

and `StateCovariance`

properties of the
filter object to `retroCorrState`

and `retroCorrCov`

,
respectively.

`___ = retroCorrect(___,`

specifies the measurement parameters for the measurement `measparams`

)`z`

.

**Caution**

You can use this syntax only when the specified `filter`

is a
`trackingEKF`

object.

[1] Bar-Shalom, Y., Huimin Chen, and
M. Mallick. “One-Step Solution for the Multistep out-of-Sequence-Measurement Problem in
Tracking.” *IEEE Transactions on Aerospace and Electronic Systems* 40,
no. 1 (January 2004): 27–37. https://doi.org/10.1109/TAES.2004.1292140.