reset

Reset states for insEKF

Since R2022b

Syntax

reset(filter)

Description

reset(filter) resets the State and StateCovariance properties of the insEKF object filter to their default values.

Examples

Reset insEKF Filter object

Create an insEKF filter object.

filter = insEKF

filter = 
  insEKF with properties:

                   State: [13x1 double]
         StateCovariance: [13x13 double]
    AdditiveProcessNoise: [13x13 double]
             MotionModel: [1x1 insMotionOrientation]
                 Sensors: {[1x1 insAccelerometer]  [1x1 insGyroscope]}
             SensorNames: {'Accelerometer'  'Gyroscope'}
          ReferenceFrame: 'NED'

Show the default angular velocity state using the stateparts object function.

stateparts(filter,"AngularVelocity")

ans = 1×3

     0     0     0

Specify the angular velocity state as [0.1 0.1 0.1] rad/s using the stateparts object function.

stateparts(filter,"AngularVelocity",[0.1 0.1 0.1])
stateparts(filter,"AngularVelocity")

ans = 1×3

    0.1000    0.1000    0.1000

Reset the filter and show the angular velocity state.

reset(filter)
stateparts(filter,"AngularVelocity")

ans = 1×3

     0     0     0

Input Arguments

filter — INS filter

insEKF object

INS filter, specified as an insEKF object.

Version History

Introduced in R2022b