fusegps
Correct states using GPS data for insfilterAsync
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 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 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
1.0010 0 0
0 1.0010 0
0 0 1.0010
Display the state after the fusing.
disp(filter.State')
1.0000 0 0 0 0 0 0 551.6325 332.2120 32.7824 0 0 0 0 0 0 0 0 0 0 0 0 27.5550 -2.4169 -16.0849 0 0 0
Input Arguments
FUSE
— insfilterAsync
object
object
insfilterAsync
, specified as an object.
position
— Position of GPS receiver (LLA)
3-element row vector
Position of GPS receiver in geodetic latitude, longitude, and altitude (LLA) specified as a real finite 3-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)
3-element row vector
Velocity of the GPS receiver in the local NED coordinate system in m/s, specified as a 3-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
— Position and velocity residual
1-by-6 vector of real values
Position and velocity residual, returned as a 1-by-6 vector of real values in m and m/s, respectively.
resCov
— Residual covariance
6-by-6 matrix of real values
Residual covariance, returned as a 6-by-6 matrix of real values.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2019a
See Also
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)