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Display state vector information for insfilterAsync



stateinfo(FUSE) displays the description of each index of the State property of the insfilterAsync object and the associated units.

info = stateinfo(FUSE) returns a structure with fields containing descriptions of the elements of the state vector of the filter, FUSE.


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Create an insfilterAsync object.

filter = insfilterAsync;

Display the state information of the created filter.

States                            Units    Index
Orientation (quaternion parts)             1:4  
Angular Velocity (XYZ)            rad/s    5:7  
Position (NAV)                    m        8:10 
Velocity (NAV)                    m/s      11:13
Acceleration (NAV)                m/s^2    14:16
Accelerometer Bias (XYZ)          m/s^2    17:19
Gyroscope Bias (XYZ)              rad/s    20:22
Geomagnetic Field Vector (NAV)    µT       23:25
Magnetometer Bias (XYZ)           µT       26:28

Output the state information of the filter as a structure.

info = stateinfo(filter)
info = struct with fields:
               Orientation: [1 2 3 4]
           AngularVelocity: [5 6 7]
                  Position: [8 9 10]
                  Velocity: [11 12 13]
              Acceleration: [14 15 16]
         AccelerometerBias: [17 18 19]
             GyroscopeBias: [20 21 22]
    GeomagneticFieldVector: [23 24 25]
          MagnetometerBias: [26 27 28]

Input Arguments

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insfilterAsync, specified as an object.

Output Arguments

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State information, returned as a structure. The field names of the structure are names of the elements of the state vector in the filter. The values of each field are the corresponding indices of the state vector.

Extended Capabilities

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

Version History

Introduced in R2019a