https://uk.mathworks.com/help/nav/ug/automatic-tuning-of-the-insfilterAsync-filter.html
Automatic Tuning of the insfilterAsync Filter - MATLAB & Simulink
The insfilterAsync object is a complex extended Kalman filter that estimates the device pose.
automatic tuningof thefiltermatlabsimulink
https://fr.mathworks.com/help/nav/ref/insfilterasync.residual.html
residual - Residuals and residual covariances from direct state measurements for insfilterAsync -...
This MATLAB function computes the residual, res, and the residual covariance, resCov, based on the direct state measurement and measurement covariance.
residualdirectstatemeasurements