Which are the state and measurement functions employed in insfilterAsync?
2 Ansichten (letzte 30 Tage)
Ältere Kommentare anzeigen
Said Quqa
am 17 Mär. 2021
Beantwortet: Brian Fanous
am 17 Mär. 2021
I was wondering which are the nonlinear state (f(x)) and measurement (g(x)) functions employed in insfilterAsync objects since, at the end of the dedicated documentation page, only the state function is reported. Still, it does not seem compatible with the structure of the state (e.g., the position appears not to be a part of the state function).
0 Kommentare
Akzeptierte Antwort
Brian Fanous
am 17 Mär. 2021
The documentation describes the state vector and the state transition function. The insfilterAsync uses a continuous time motion model and discrete time measurements. So the state update equation is dx/dt = f(x(t)). In the documentation you can see that the position is elements 8:10 of the state vector. The derivate is the velocity which are elements 8:10 of the f(x(t)) function.
The measurement equations are not in the documentation. To see the equations, for the magnetometer fusion, in the code, type
edit insfilterAsync/fusemag
0 Kommentare
Weitere Antworten (0)
Siehe auch
Produkte
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!