fuseaccel

Correct states using accelerometer data for insfilterAsync

Syntax

[res,resCov] = fuseaccel(FUSE,acceleration,accelerationCovariance)

Description

[res,resCov] = fuseaccel(FUSE,acceleration,accelerationCovariance) fuses accelerometer data to correct the state estimate.

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