vifi2021 / imu_gps_ftm_localization Public

forked from ydsf16/imu_gps_localization

Notifications You must be signed in to change notification settings
Fork 0
Star 0

Using error-state Kalman filter to fuse the IMU, GPS and FTM data for localization.

zhuanlan.zhihu.com/p/152662055

0 stars 169 forks Branches Tags Activity

Notifications

Name		Name	Last commit message	Last commit date
Latest commit History 26 Commits
.vscode		.vscode
doc		doc
imu_gps_localizer		imu_gps_localizer
ros_wrapper		ros_wrapper
CMakeLists.txt		CMakeLists.txt
README.md		README.md
package.xml		package.xml

Repository files navigation

IMU & GPS localization

Using EKF to fuse IMU and GPS data to achieve global localization.

The code is implemented base on the book "Quaterniond kinematics for the error-state Kalman filter"

For details, please refer to：https://zhuanlan.zhihu.com/p/152662055

Dataset

https://epan-utbm.github.io/utbm_robocar_dataset/

For any issues, please feel free to contact Dongsheng Yang: [email protected]

About

Using error-state Kalman filter to fuse the IMU, GPS and FTM data for localization.

zhuanlan.zhihu.com/p/152662055

Report repository

Releases

No releases published

Packages

No packages published

Languages

C++ 95.0%
CMake 5.0%