function

Estimation.StrapdownINS.UKF.sigmaTangents

Generate 2*n+1 symmetric sigma points in the local tangent

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`covariance`	`Covariance`
output	`sigma`	`Real`	`[TangentLength, SigmaCount]`
output	`success`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function sigmaTangents
  "Generate 2*n+1 symmetric sigma points in the local tangent"
  input Covariance covariance;
  output Real sigma[TangentLength, SigmaCount];
  output Boolean success;
protected
  Real lower[TangentLength, TangentLength];
algorithm
  (lower, success) := lowerCholesky(
    LinearAlgebra.symmetrize(covariance));
  sigma := cat(2, zeros(TangentLength, 1),
    SigmaScale * lower, -SigmaScale * lower);
end sigmaTangents;