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Apache-2.0

kalman-localization

Implementation of localization using sensor fusion of GPS/INS/compass through an error-state Kalman filter.

The MATLAB code borrows heavily from Paul D. Groves' book, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, his MATLAB code is marked as his, and is held under the BSD license.

This code is very much a work-in-progress as I transition from a MATLAB implementation to C++. Until the code is in a stable state, I will make changes based on my own needs, with complete disregard for backwards compatibility. If you liked it, then you shoulda used a fork on github. Following the initial development, I may make it more portable.

PLEASE NOTE: I cannot provide my testing data as it was collected using a vehicle owned by General Motors. Please, refer to the comments in the initialization scripts for a description of the data format and you should be able to adapt your own data. Alternatively, the book I used comes with a CD-ROM that has his code (fully working filter) along with a system for generating test data.

Copyright 2016 Adam Werries Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

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Implementation of localization using sensor fusion of GPS/INS/compass through an error-state Kalman filter. 展开 收起
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Apache-2.0
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