pose_ekf
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Published
20 hours ago •
libing64
libing64
Extented Kalman Filter for 6D pose estimation using gps, imu, magnetometer and sonar sensor.
pose_ekf
Extented Kalman Filter for 6D pose estimation using gps, imu, magnetometer.
1. State for kalman filter
[p v q ba bw]
error state [dp dv d_theta dba, dbw]
2. inertial frame: NED
3. running
3.1 running with simulator
cd catkin_ws/src
git clone [email protected]:libing64/pose_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="pose_ekf"
roslaunch pose_ekf pose_ekf_simulator.launch
libing64