GNSS - IMU fusion

Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) for loosely coupled GNSS - IMU fusion.

Next up: note on impact of process noise + comparison

Note: Processing the dataset all at once is slow. For practical problems, build using ROS. Example project: GNSS-IMU-ErrorStateEKF

EKF Results

Odometry from EKF (blue) vs truth (red)

EKF position estimates

UKF Results

Odometry from UKF (blue) vs truth (red)

UKF position estimates

Dataset: Zurich Urban Micro Aerial Vehicle Dataset