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predict

Update states using accelerometer and gyroscope data for ahrs10filter

Description

example

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

Examples

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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

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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