residualmag

Residuals and residual covariance from magnetometer measurements for insfilterMARG

Syntax

[res,resCov] = residualmag(FUSE,magReadings,magReadingsCovariance)

Description

[res,resCov] = residualmag(FUSE,magReadings,magReadingsCovariance) computes the residual, residual, and the residual covariance, resCov, based on the magnetometer readings and the corresponding covariance.

Examples

Obtain Magnetometer Residual from insfilterMARG

Create an insfilterMARG object and display its state.

filter = insfilterMARG;
disp(filter.State')

    1.0000         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 a magnetometer reading and its covariance.

magReading = [132.7000   91.1000   60.5000];
magCovariance = eye(3);

Obtain the residual and residual covariance.

[res,resCovariance] = residualmag(filter,magReading,magCovariance)

res = 1×3

  105.1450   93.5169   76.5849

resCovariance = 3×3

    1.0041    0.0000   -0.0000
   -0.0000    1.0041    0.0000
    0.0000   -0.0000    1.0041

Input Arguments

FUSE — insfilterMARG object

object

insfilterMARG, specified as an object.

magReadings — Magnetometer readings (µT)

3-element row vector

Magnetometer readings in µT, specified as a 3-element row vector of finite real numbers.

Data Types: single | double

magReadingsCovariance — Magnetometer readings error covariance (µT²)

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

Magnetometer readings error covariance in µT², 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 µT.

Data Types: single | double

resCov — Residual covariance

3-by-3 matrix of real values

Residual covariance, returned a 3-by-3 matrix of real values in (µT)².

Version History

Introduced in R2020a