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

• Quaternion kinematics for error state kalman filter

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

Result