An implementation of the Error State Kalman Filter (ESKF)
The ambition of this repository is to learn how to make an estimator that can integrate 9-DOF IMU (accelerometer/gyro/magnetometer) into a quaternion attitude.
The theory of the Error-State Kalman Filter described in:
- “Attitude Error Representations for Kalman Filtering - 2003” - F. Landis Markley
-
- 规避动态建模:应用于移动机器人定位的误差状态卡尔曼滤波器的评价
-
Attitude estimation or quaternion estimation? - 2003
- 姿态估计或四元数估计
-
Multiplicative vs. Additive Filtering for Spacecraft Attitude Determination - 2004
- Multiplicative vs. Additive Filtering for Spacecraft Attitude Determination
- 航天器姿态确定的乘法与加法滤波器的对比
-
Indirect Kalman filter for 3D attitude estimation - 2007
- 三维姿态估计的间接卡尔曼滤波