S2024 gnss imu state estimator

[sharon-pan]

Create IMUStateEstimator class, using IMU acceleration value to get vehicle's pose.

[sonarqubecloud[bot]]

Quality Gate passed

Issues
4 New issues
0 Accepted issues

Measures
0 Security Hotspots
No data about Coverage
0.0% Duplication on New Code

See analysis details on SonarCloud

[sharon-pan]

Do the localization when GNSS is not working: 1. Indoor localization 2. Deal with issue that GNSS throws garbage value(when detect garbage value from GNSS, switch to IMU to get pose) key changes: 1. add IMUStateEstimator in /perception/state_estimation.py 2. subscribe IMU in /interface/gem_hardware.py

[krishauser]

This seems to conflict with PR #78. Whose solution is the one being adopted by the state estimation team?

[enguang2]

This seems to conflict with PR #78. Whose solution is the one being adopted by the state estimation team?

we have two new state estimation class. One is in #78 EKFStateEstimator, another is #75 IMUStateEstimator IMU state estimator is to detect whether GNSS throws garbage value, and switch sensor to IMU alone(for indoor environment). EKF State Estimator is to get high accuracy outdoor positioning from fusion of both GNSS and IMU. Users can choose from these two estimator which meets their needs.