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fusealtimeter

Correct states using altimeter data for ahrs10filter

Description

example

[res,resCov] = fusealtimeter(FUSE,altimeterReadings,altimeterReadingsCovariance) fuses altimeter data to correct the state estimate.

Examples

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Create an ahrs10filter object and display its state.

filter = ahrs10filter;
disp(filter.State')
    1.0000         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Fuse altimeter data with a reading and a covariance. Display the state after the fusing.

altitude = 50;
altitudeCovariance = 0.01;
[res,resCovariance] = fusealtimeter(filter,altitude,altitudeCovariance)
res = -50
resCovariance = 0.0100
disp(filter.State')
    1.0000         0         0         0   -0.0050         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Input Arguments

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Object of ahrs10filter.

Altimeter readings in meters, specified as a real scalar.

Data Types: single | double

Altimeter readings error covariance in m2, specified as a real scalar.

Data Types: single | double

Output Arguments

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Measurement residual, returned as a scalar in meters.

Residual covariance, returned as a nonnegative scalar in m2.

Extended Capabilities

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

Version History

Introduced in R2019a