stateparts

Get and set part of state vector in insEKF

Since R2022a

Syntax

part = stateparts(filter,stateName)

part = stateparts(filter,sensor,stateName)

stateparts(filter,stateName,value)

stateparts(filter,sensor,stateName,value)

Description

part = stateparts(filter,stateName) returns the components of the state vector corresponding to the specified state name of the filter.

part = stateparts(filter,sensor,stateName) returns the components of the state vector corresponding to the specified state name of the specified sensor.

stateparts(filter,stateName,value) sets the components of the state vector corresponding to the specified state name of the filter to the specified value.

stateparts(filter,sensor,stateName,value) sets the components of the state vector corresponding to the specified state name of the specified sensor to the specified value.

Examples

Set and Get Accelerometer Biases in insEKF

Create an insAccelerometer sensor object and insGyroscope sensor object.

acc = insAccelerometer;
gyro = insGyroscope;

Construct an insEKF object using the two sensor objects.

filter = insEKF(acc,gyro);

Set the bias of the accelerometer to [10 0 1] $\mathrm{m}/{\mathrm{s}}^2$.

stateparts(filter,acc,"Bias",[10 0 1])

Get the bias of the accelerometer via the sensor.

accBias = stateparts(filter,acc,"Bias")

accBias = 1×3

    10     0     1

Get the bias of the accelerometer via the filter.

accBias2 = stateparts(filter,"Accelerometer_Bias")

accBias2 = 1×3

    10     0     1

Set the bias of the accelerometer back to [0 0 0].

stateparts(filter,"Accelerometer_Bias",[0 0 0])

Input Arguments

filter — INS filter

insEKF object

INS filter, specified as an insEKF object.

stateName — Name of part of state

string scalar | character vector

Name of a part of the state for the filter or the sensor, specified as a string scalar or character vector.

Use the stateinfo object function to find the names of state parts in the filter.

Example: "AngularVelocity"

Example: "Bias"

Data Types: char | string

sensor — Inertial sensor

insAccelerometer object | insGyroscope object | insMagnetometer object | insGPS object | object inheriting from positioning.insSensorModel interface class

Inertial sensor, specified as one of these objects used to construct the insEKF filter object:

• An insAccelerometer object

• An insGyroscope object

• An insMagnetometer object

• An insGPS object

• An object inheriting from the positioning.INSSensorModel interface class

value — Value for filter state or sensor state part

N-element real-valued vector

Value for the filter state or sensor state part, specified as an N-element real-valued vector, where N is the number of elements in the state part.

Example: [.2 .3]

Data Types: single | double

Output Arguments

part — Part of state vector

N-element real-valued vector

Part of the state vector, returned as a real-valued vector, where N is the number of elements in the state part.

Extended Capabilities

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

Version History

Introduced in R2022a