fusegps
Correct states using GPS data for insfilterMARG
Syntax
Description
[
fuses GPS position data to correct the state estimate.res
,resCov
] = fusegps(FUSE
,position
,positionCovariance
)
[
fuses GPS position and velocity data to correct the state estimate.res
,resCov
] = fusegps(FUSE
,position
,positionCovariance
,velocity
,velocityCovariance
)
Examples
Fuse GPS Data Using insfilterMARG
Create
an insfilterMARG
object and display its state.
filter = insfilterMARG; disp(filter.State')
1.0000 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 a GPS position measurement with its covariance.
position = [5 3 2] % in deg deg meters;
position = 1×3
5 3 2
positionCovariance = diag([1 1 1]); [res,resCovariance] = fusegps(filter,position,positionCovariance)
res = 1×3
105 ×
5.5218 3.3254 0.3282
resCovariance = 3×3
1.0000 0 0
0 1.0000 0
0 0 1.0000
Display the state after the fusing.
disp(filter.State')
1.0000 0 0 0 0.5522 0.3325 0.0328 0 0 0 0 0 0 0 0 0 27.5550 -2.4169 -16.0849 0 0 0
Input Arguments
FUSE
— insfilterMARG
object
object
insfilterMARG
, specified as an object.
position
— Position of GPS receiver (LLA)
three-element row vector
Position of GPS receiver in geodetic latitude, longitude, and altitude (LLA) specified as a real finite three-element row vector. Latitude and longitude are in degrees with north and east being positive. Altitude is in meters.
Data Types: single
| double
positionCovariance
— Position measurement covariance of GPS receiver (m2)
3-by-3 matrix
Position measurement covariance of GPS receiver in m2, specified as a 3-by-3 matrix.
Data Types: single
| double
velocity
— Velocity of GPS receiver in local NED coordinate system (m/s)
three-element row vector
Velocity of the GPS receiver in the local NED coordinate system in m/s, specified as a three-element row vector.
Data Types: single
| double
velocityCovariance
— Velocity measurement covariance of GPS receiver (m2/s2)
3-by-3 matrix
Velocity measurement covariance of the GPS receiver in the local NED coordinate system in m2/s2, specified as a 3-by-3 matrix.
Data Types: single
| double
Output Arguments
res
— Residuals
three-element row vector of real values | six-element row vector of real values
Residuals, returned as either a three-element or six-element row vector of real
values depending on which syntax you use. If you use the first syntax to specify only
the position
and positionCovariance
arguments,
then res
is a three-element row vector of real values containing
the xyz-position residuals. If you use the second syntax to
additionally specify the velocity
and
velocityCovariance
arguments, then res
is a
six-element row vector of real values containing the xyz-position and
-velocity residuals.
resCov
— Residual covariance
3-by-3 matrix of real values | 6-by-6 matrix of real values
Residual covariance, returned as a 3-by-3 or 6-by-6 matrix of real values depending
on which syntax you use. If you use the first syntax to specify only the
position
and positionCovariance
arguments,
then resCov
is a 3-by-3 matrix of real values containing the
xyz-position residual covariance. If you use the second syntax to
additionally specify the velocity
and
velocityCovariance
arguments, then resCov
is
a 6-by-6 of real values containing the xyz-position and -velocity
residual covariance.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2018b
See Also
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