fusemag

Correct states using magnetometer data for insfilterMARG

Syntax

[res,resCov] = fusemag(FUSE,magReadings,magReadingsCovariance)

Description

[res,resCov] = fusemag(FUSE,magReadings,magReadingsCovariance) fuses magnetometer data to correct the state estimate.

Input Arguments

FUSE — insfilterMARG object

object

insfilterMARG, specified as an object.

magReadings — Magnetometer readings (µT)

3-element row vector

Magnetometer readings in µT, specified as a 3-element row vector of finite real numbers.

Data Types: single | double

magReadingsCovariance — Magnetometer readings error covariance (µT²)

scalar | 3-element row vector | 3-by-3 matrix

Magnetometer readings error covariance in µT², specified as a scalar, 3-element row vector, or 3-by-3 matrix.

Data Types: single | double

Output Arguments

res — Residual

1-by-3 vector of real values

Residual, returned a 1-by-3 vector of real values in µT.

Data Types: single | double

resCov — Residual covariance

3-by-3 matrix of real values

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

Extended Capabilities

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

Version History

Introduced in R2018b