fuse

Fuse sensor data for state estimation in insEKF

Since R2022a

Syntax

[state,stateCovariance] = fuse(filter,sensor,measurement,measurementNoise)

Description

[state,stateCovariance] = fuse(filter,sensor,measurement,measurementNoise) fuses the measurement from a sensor, based on the measurement noise, for state estimation.

Examples

Fuse Gyroscope Data Using insEKF

Create an insAccelerometer sensor object and insGyroscope sensor object.

acc = insAccelerometer;
gyro = insGyroscope;

Construct an insEKF object using the two sensor objects.

filter = insEKF(acc,gyro);

Fuse a gyroscope measurement of [0.1 0.2 –0.04] $\mathrm{rad}/\mathit{s}$ with a measurement noise covariance of diag([0.2 0.2 0.2]) ${(\mathrm{deg}/\mathit{s})}^2$.

[state,stateCov] = fuse(filter,gyro,[0.1 0.2 -0.04],diag([0.2 0.2 0.2]));

Show the fused state.

state

state = 13×1

    1.0000
         0
         0
         0
    0.0455
    0.0909
   -0.0182
         0
         0
         0
    0.0455
    0.0909
   -0.0182
      ⋮

Input Arguments

filter — INS filter

insEKF object

INS filter, specified as an insEKF object.

sensor — Inertial sensor

insAccelerometer object | insGyroscope object | insMagnetometer object | insGPS object | object inheriting from positioning.insSensorModel interface class

Inertial sensor, specified as one of these objects used to construct the insEKF filter object:

• An insAccelerometer object

• An insGyroscope object

• An insMagnetometer object

• An insGPS object

• An object inheriting from the positioning.INSSensorModel interface class

measurement — Measurement from sensor

M-element real-valued vector

Measurement from the sensor, specified as an M-element real-valued vector, where M is the dimension of the measurement from the sensor object.

Data Types: single | double

measurementNoise — Measurement noise

M-by-M real-valued positive-definite matrix | M-element vector of positive values | positive scalar

Measurement noise, specified as an M-by-M real-valued positive-definite matrix, an M-element vector of positive values, or a positive scalar. M is the dimension of the measurement from the sensor object. When specified as a vector, the vector expands to the diagonal of an M-by-M diagonal matrix. When specified as a scalar, the value of the property is the product of the scalar and an M-by-M identity matrix.

Data Types: single | double

Output Arguments

state — State vector after measurement fusion

N-element real-valued vector

State vector after measurement fusion, returned as an N-element real-valued vector, where N is the dimension of the filter state.

Data Types: single | double

stateCovariance — State estimate error covariance after measurement fusion

N-by-N real-valued positive definite matrix

State estimate error covariance after measurement fusion, returned as an N-by-N real-valued positive definite matrix, where N is the dimension of the state.

Data Types: single | double

Extended Capabilities

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

Version History

Introduced in R2022a