residualgyro

Residuals and residual covariance from gyroscope measurements for insfilterAsync

Since R2020a

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.

Examples

Obtain Gyroscope Data Residual from insfilterAsync

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

FUSE — insfilterAsync

ahrs10filter | object

insfilterAsync, specified as an object.

gyroReadings — Gyroscope readings in local sensor body coordinate system (rad/s)

3-element row vector

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

Data Types: single | double

gyroCovariance — Covariance of gyroscope measurement error ((rad/s)²)

scalar | 3-element row vector | 3-by-3 matrix

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

res — Residual

1-by-3 vector of real values

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

resCov — Residual covariance

3-by-3 matrix of real values

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

Extended Capabilities

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

Version History

Introduced in R2020a