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Questions tagged [ekf]

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Fusing multiple IMUs in EKF framework

What is the approach to fuse multiple IMUs in EKF framework? Normally you take the IMU as the motion model and the sense step to consist of other sensors but when have multiple IMUs operating, what is ...
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Value of EKF when fusing two estimates of the same state

I'm looking at fusing the output of two SLAM packages. In the examples code given an EKF is referenced for this fusion but I can't find the implementation. I don't understand the value of the EKF ...
FourierFlux's user avatar
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Gyroscope Error Propagation: Why not use Euler Angles?

Looking at the EKF formulation for Gyroscopes in more depth I'm wondering, why can't we use Euler Angles in the Error State EKF framework for error and covariance propagation instead of Quaternions? ...
FourierFlux's user avatar
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Confusion on Error State Kalman Filter reset

I have been reading about kalman filters for IMU and I am confused on the error state formulation. Reading this paper, starting on page 63 and going onto 64 the paper addresses the reset of the error ...
FourierFlux's user avatar
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How does velocity get computed in EKF INS systems?

In GPS IMU nav systems Velocity and angular position are not explicitly measured states yet at each timestep it's necessary in order to integrate IMU information. I'm curious how is this dealt with? ...
FourierFlux's user avatar
1 vote
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157 views

IMU state estimation Covariance updating

EKF filter normally has a predict + update step, I am curious - how do you evolve the covariance of the state without one of the steps? In essence I want to evolve the state of an object using an IMU ...
FourierFlux's user avatar