fusealtimeter

Correct states using altimeter data for ahrs10filter

Syntax

[res,resCov] = fusealtimeter(FUSE,altimeterReadings,altimeterReadingsCovariance)

Description

[res,resCov] = fusealtimeter(FUSE,altimeterReadings,altimeterReadingsCovariance) fuses altimeter data to correct the state estimate.

Examples

Fuse Altimeter Data Using ahrs10filter

Create an ahrs10filter object and display its state.

filter = ahrs10filter;
disp(filter.State')

    1.0000         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Fuse altimeter data with a reading and a covariance. Display the state after the fusing.

altitude = 50;
altitudeCovariance = 0.01;
[res,resCovariance] = fusealtimeter(filter,altitude,altitudeCovariance)

res = 
-50

resCovariance = 
0.0100

disp(filter.State')

    1.0000         0         0         0   -0.0050         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

FUSE — ahrs10filter object

object

Object of ahrs10filter.

altimeterReadings — Altimeter readings (m)

real scalar

Altimeter readings in meters, specified as a real scalar.

Data Types: single | double

altimeterReadingsCovariance — Altimeter readings error covariance (m²)

real scalar

Altimeter readings error covariance in m², specified as a real scalar.

Data Types: single | double

Output Arguments

res — Measurement residual

scalar

Measurement residual, returned as a scalar in meters.

resCov — Residual covariance

nonnegative scalar

Residual covariance, returned as a nonnegative scalar in m².

Extended Capabilities

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

Version History

Introduced in R2019a