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Residuals and residual covariance from accelerometer measurements for insfilterAsync


[res,resCov] = residualaccel(FUSE,acceleration,accelerationCovariance) computes the residual, res, and the residual covariance, resCov, based on the acceleration readings and the corresponding covariance.

Input Arguments

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insfilterAsync, specified as an object.

Accelerometer readings in local sensor body coordinate system in m/s2, specified as a 3-element row vector

Data Types: single | double

Acceleration error covariance of the accelerometer measurement in (m/s2)2, specified as a scalar, 3-element row vector, or 3-by-3 matrix.

Data Types: single | double

Output Arguments

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Residual, returned a 1-by-3 vector of real values in m/s2.

Residual covariance, returned a 3-by-3 matrix of real values in (m/s2)2.

Extended Capabilities

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

Introduced in R2020a