# residualgyro

Residuals and residual covariance from gyroscope measurements for `insfilterAsync`

Since R2020a

## Syntax

``[res,resCov] = residualgyro(FUSE,gyroReadings,gyroCovariance)``

## Description

example

````[res,resCov] = residualgyro(FUSE,gyroReadings,gyroCovariance)` computes the residual, `res`, and the innovation covariance, `resCov`, based on the gyroscope readings and the corresponding covariance.```

## Examples

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`Create` an `insfilterAsync` object and display its state.

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

Define an gyroscope measurement with its covariance.

`angularVel = [1 1 1] `
```angularVel = 1×3 1 1 1 ```
`angularVelCovariance = 0.01*diag([1 1 1]);`

Obtain the residual of the data.

`[res,resCovariance] = residualgyro(filter,angularVel,angularVelCovariance)`
```res = 1×3 1 1 1 ```
```resCovariance = 3×3 0.0120 0 0 0 0.0120 0 0 0 0.0120 ```

## Input Arguments

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`insfilterAsync`, specified as an object.

Gyroscope readings in local sensor body coordinate system in rad/s, specified as a 3-element row vector.

Data Types: `single` | `double`

Covariance of gyroscope measurement error in (rad/s)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 as a 1-by-3 vector of real values in rad/s.

Residual covariance, returned as a 3-by-3 matrix of real values in (rad/s)2.

## Version History

Introduced in R2020a