# `Sidereon.Estimation.TrackInnovation`
[🔗](https://github.com/neilberkman/sidereon-ex/blob/main/lib/sidereon/estimation.ex#L144)

Measurement residual, residual covariance, and NIS for a track update.

# `t`

```elixir
@type t() :: %Sidereon.Estimation.TrackInnovation{
  innovation: [float()],
  innovation_covariance: [[float()]],
  nis: float()
}
```

# `gate`

```elixir
@spec gate(t(), number()) :: {:ok, Sidereon.Estimation.NisGate.t()} | {:error, term()}
```

Test this innovation against a chi-square NIS gate.

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*Consult [api-reference.md](api-reference.md) for complete listing*