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correct

Correct state and state estimation error covariance

Syntax

[xCorr,pCorr] = correct(filterObj,zMeas)
[xCorr,pCorr] = correct(filterObj,zMeas,vargin)
xCorr = correct(filterObj,zMeas)
[xCorr,pCorr,zCorr] = correct(filterObj,zMeas)

Description

[xCorr,pCorr] = correct(filterObj,zMeas) corrects the state and measurement of the tracking filter object based on the current measurement, zMeas. The internal state and covariance of the filter are overwritten by the corrected values.

[xCorr,pCorr] = correct(filterObj,zMeas,vargin) specifies additional parameters used by the state transition function defined in the MeasurementFcn property of the tracking object.

xCorr = correct(filterObj,zMeas) corrects the state of the tracking filter object based on the current measurement, zMeas. This syntax is only supported for the trackingABF object.

[xCorr,pCorr,zCorr] = correct(filterObj,zMeas) also returns the corrected measurement. This syntax is only supported for the trackingABF object.

Input Arguments

collapse all

Filter for object tracking, specified as an object. Calling the predict overwrites the internal states of the object.

Measurement of the tracked object, specified as a vector or matrix.

Output Arguments

collapse all

Corrected state of the filter, specified as a vector or matrix. The State property of the input filterObj is overwritten with this value.

Corrected state covariance of the filter, specified as a vector or matrix. The StateCovariance property of the input filterObj is overwritten with this value.

Corrected measurement of the filter, specified as a vector or matrix. This output is only supported for the trackingABF object.

Extended Capabilities

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

Introduced in R2017a