Correct states using gyroscope data for
gyroReadings— Gyroscope readings in local sensor body coordinate system (rad/s)
Gyroscope readings in local sensor body coordinate system in rad/s, specified as a 3-element row vector.
gyroCovariance— Covariance of gyroscope measurement error ((rad/s)2)
Covariance of gyroscope measurement error in (rad/s)2, specified as a scalar, 3-element row vector, or 3-by-3 matrix.
Residual, returned as a 1-by-3 vector of real values in rad/s.
resCov— Residual covariance
Residual covariance, returned as a 3-by-3 matrix of real values in (rad/s)2.