residualaltimeter

Residuals and residual covariance from altimeter measurements for ahrs10filter

Since R2020a

Syntax

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

Description

[res,resCov] = residualaltimeter(FUSE,altimeterReadings,altimeterReadingsCovariance) computes the residual, res, and the innovation covariance, resCov, based on the altimeter readings and the corresponding covariance.

Examples

Obtain Altimeter Data Residual from 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

Define altimeter data with a reading and a covariance. Obtain the residual of the data.

magReading = 50;
magCovariance = 4;
[res,resCovariance] = residualaltimeter(filter,magReading,magCovariance)

res = 
-50

resCovariance = 
4.0000

Input Arguments

FUSE — ahrs10filter

ahrs10filter | object

ahrs10filter, specified as an object.

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 R2020a