imu_gps_fusion
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fusing gps and imu by eskf
Imu and Gps Fusion by ESKF
Explain
- https://blog.csdn.net/weixin_37835423/article/details/109452148
- https://blog.csdn.net/weixin_37835423/article/details/109476346
Requirements
- ROS Kinetic
- Eigen3
Reference Theory
Used in
- wgs_conversions for transform between coordinate in wgs frame and coordinate in enu frame
Dataset
- https://lcas.lincoln.ac.uk/nextcloud/index.php/s/KfItDFgwwis5Xrk
Test
roslaunch imu_gps_fusion imu_gps_fusion.launch
rosbag play *.bag --clock