Residuals and residual covariances from direct state measurements for
idx— State vector index of measurements to correct
State vector index of measurements to correct, specified as an N-element vector of increasing integers in the range [1, 17].
The state values represent:
|Orientation (quaternion parts)||N/A||1:4|
|Gyroscope Bias (XYZ)||rad/s||11:13|
|Accelerometer Bias (XYZ)||m/s2||14:16|
|Visual Odometry Scale (XYZ)||N/A||17|
measurement— Direct measurement of state
Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument,
res— Measurement residual
Measurement residual, returned as a 1-by-N vector of real values.
resCov— Residual covariance
Residual covariance, returned as a N-by-N matrix of real values.