correct

Correct states using direct state measurements for insfilterErrorState

Syntax

correct(FUSE,idx,measurement,measurementCovariance)

Description

correct(FUSE,idx,measurement,measurementCovariance) corrects the state and state estimation error covariance of FUSE, an insfilterErrorState object, based on the measurement and measurement covariance. The measurement maps directly to the state specified by the indices idx.

Examples

Correct insfilterErrorState Using Direct Measurement

Create an insfilterErrorState object and display its state.

filter = insfilterErrorState;
disp(filter.State')

     1     0     0     0     0     0     0     0     0     0     0     0     0     0     0     0     1

Fuse a position measurement with its corresponding covariance.

idx = [5 6 7];
measure = [10 10 0];
measureCov = 1e-4*diag([5 5 5]);
correct(filter,idx,measure,measureCov)

Display the state after the fusing.

disp(filter.State')

    0.8724   -0.2822   -0.2822   -0.2822    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    6.6656    7.6656

Input Arguments

FUSE — INS filter object

insfilterErrorState

insfilterErrorState, specified as an object.

idx — State vector index of measurements to correct

N-element vector of increasing integers in the range [1, 17]

State vector index of measurements to correct, specified as an N-element vector of increasing integers in the range [1, 17].

The state values represent:

State	Units	Index
Orientation (quaternion parts)	N/A	1:4
Position (NED)	m	5:7
Velocity (NED)	m/s	8:10
Gyroscope Bias (XYZ)	rad/s	11:13
Accelerometer Bias (XYZ)	m/s2	14:16
Visual Odometry Scale (XYZ)	N/A	17

Data Types: single | double

measurement — Direct measurement of state

N-element vector

Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument, idx.

Data Types: single | double

measurementCovariance — Covariance of measurement

scalar | M-element vector | M-by-M matrix

Covariance of measurement, specified as a scalar, M-element vector, or M-by-M matrix. If you correct orientation (state indices 1–4), then M = numel(idx)-1. If you do not correct orientation, then M = numel(idx).

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2019a