residualgps

Residuals and residual covariance from GPS measurements for insfilterMARG

Syntax

[res,resCov] = residualgps(FUSE,position,positionCovariance)

[res,resCov] = residualgps(FUSE,position,positionCovariance,velocity,velocityCovariance)

Description

[res,resCov] = residualgps(FUSE,position,positionCovariance) computes the residual, res, and the residual covariance, resCov, based on the GPS position measurement and covariance.

[res,resCov] = residualgps(FUSE,position,positionCovariance,velocity,velocityCovariance) computes the residual, res, and the residual covariance, resCov, based on the GPS position measurement and covariance.

Input Arguments

FUSE — insfilterMARG object

object

insfilterMARG, 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 (m/s²)

3-by-3 matrix

Velocity measurement covariance of the GPS receiver in the local NED coordinate system in m/s², specified as a 3-by-3 matrix.

Data Types: single | double

Output Arguments

res — Position and velocity residual

1-by-3 vector of real values | 1-by-6 vector of real values

Position and velocity residual, returned as a 1-by-3 vector of real values if the inputs only contain position information, and returned as 1-by-6 vector of real values if the inputs also contain velocity information.

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 matrix of real values if the inputs only contain position information, and a 6-by-6 matrix of real values if the inputs also contain velocity information.

Version History

Introduced in R2020a