Is there a mistake on The Help document?

The document of the "imufilter” help :https://ww2.mathworks.cn/help/fusion/ref/imufilter-system-object.html?s_tid=srchtitle

On the "Algorithms", there is "

Is that wrong?

[Adam Danz]

The link in your question does not work.

If you think you found an error, contact tech support to describe the problem.

If you have a question or if you think you made a mistake, provide much more detail to increase the chances of getting some help.

For reference, here are questions from same OP on this topic in the last day or so.

• https://www.mathworks.com/matlabcentral/answers/589594-is-there-a-mistake-on-the-help-document
• https://www.mathworks.com/matlabcentral/answers/589708-is-this-a-serious-mistake-on-function-imufilter-on-matlab2020a
• https://www.mathworks.com/matlabcentral/answers/589954-is-there-a-mistake-on-the-on-the-function-of-imufilter-helpdocument
• https://www.mathworks.com/matlabcentral/answers/589270-is-there-a-mistake-on-the-navigation-toolbox

Answer 1

[Brian Fanous]

See the diagram above the equations you’ve cited.

The linear acceleration is decayed from one iteration to the next by the decay factor v, and then the estimated error in the linear acceleration b+ is subtracted.

Similarly the gyroscope bias error estimate a+ is subtracted from the gyroscope bias estimate from the previous iteration to obtain a new gyroscope bias estimate.

To echo what Adam has said, if you feel you've found an error please reach out to tech support.