Correct states using direct state measurements
idx— State vector Index of measurement to correct
State vector index of measurement to correct, specified as an N-element vector of increasing integers in the range [1,16].
The state values represent:
|Orientation (quaternion parts)||1:4|
|Gyroscope bias (XYZ)||rad/s||5:7|
|Accelerometer Bias (XYZ)||m/s2||14:16|
measurement— Direct measurement of state
Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument, idx.
measurementCovariance— Covariance of measurement
Covariance of measurement, specified as a scalar, N-element vector, or N-by-N matrix. N is the number of elements of the index argument, idx.