Main Content

predict

Update states using accelerometer and gyroscope data for ahrs10filter

Description

predict(FUSE,accelReadings,gyroReadings) fuses accelerometer and gyroscope data to update the state estimate.

example

Examples

collapse all

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

Predict the state of the filter based on an accelerometer reading of [1 1 1] m/s2 and a gyroscope reading of [1 1 0] rad/s. Display the state.

predict(filter,[1 1 1],[1 1 0])
disp(filter.State')
    1.0000    0.0025    0.0025         0         0    0.0441         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

collapse all

Object of ahrs10filter.

Accelerometer readings in local sensor body coordinate system in m/s2, specified as an N-by-3 matrix. N is the number of samples, and the three columns of accelReadings represent the [x y z] measurements. Accelerometer readings are assumed to correspond to the sample rate specified by the IMUSampleRate property.

Data Types: single | double

Gyroscope readings in the sensor body coordinate system in rad/s, specified as an N-by-3 matrix. N is the number of samples, and the three columns of gyroReadings represent the [x y z] measurements. Gyroscope readings are assumed to correspond to the sample rate specified by the IMUSampleRate property.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2019a