fuseaccel
Correct states using accelerometer data for
insfilterAsync
Description
[
fuses accelerometer data to correct the state estimate.res
,resCov
] = fuseaccel(FUSE
,acceleration
,accelerationCovariance
)
Examples
Fuse Accelerometer Data Using insfilterAsync
Create
an insfilterAsync
object and display its state.
filter = insfilterAsync; disp(filter.State')
1.0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 27.5550 -2.4169 -16.0849 0 0 0
Fuse an accelerometer measurement with its covariance.
acceleration = [0 -9.8 0]
acceleration = 1×3
0 -9.8000 0
accelCovariance = 0.01*diag([1 1 1]); [res,resCovariance] = fuseaccel(filter,acceleration,accelCovariance)
res = 1×3
0 -9.8000 -9.8100
resCovariance = 3×3
0.3969 0 0
0 0.3969 0
0 0 0.3969
Display the state after the fusing.
disp(filter.State')
0.7285 -0.6850 0 0 0 0 0 0 0 0 0 0 0 0 0.0247 0.0247 0 -0.0247 -0.0247 0 0 0 27.5550 -2.4169 -16.0849 0 0 0
Input Arguments
FUSE
— insfilterAsync
object
object
insfilterAsync
, specified as an object.
acceleration
— Accelerometer readings in local sensor body coordinate system (m/s2)
3-element row vector
Accelerometer readings in local sensor body coordinate system in m/s2, specified as a 3-element row vector
Data Types: single
| double
accelerationCovariance
— Acceleration error covariance of accelerometer measurement ((m/s2)2)
scalar | 3-element row vector | 3-by-3 matrix
Acceleration error covariance of the accelerometer measurement in (m/s2)2, 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 a 1-by-3 vector of real values in m/s2.
resCov
— Residual covariance
3-by-3 matrix of real values
Residual covariance, returned as a 3-by-3 matrix of real values in (m/s2)2.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2019a
See Also
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)