correct

Correct states using direct state measurements

Description

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

Input Arguments

collapse all

insfilterNonholonomic, specified as an object.

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:

StateUnitsIndex
Orientation (quaternion parts) 1:4
Gyroscope bias (XYZ)rad/s5:7
Position (NED)m8:10
Velocity (NED)m/s11:13
Accelerometer Bias (XYZ)m/s214:16

Data Types: single | double

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

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.

Data Types: single | double

Extended Capabilities

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

Introduced in R2018b