shuyong / ESKF-2003

An implementation of the Error State Kalman Filter (ESKF)

ESKF-2003

An implementation of the Error State Kalman Filter (ESKF)

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Description

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

References

1. Circumventing Dynamic Modeling: Evaluation of the Error-State Kalman Filter applied to Mobile Robot Localization - 1999

   • 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

2. Attitude Error Representations for Kalman Filtering - 2002

   • Attitude Error Representations for Kalman Filtering - 2003
   • 卡尔曼滤波的姿态误差表示

3. Attitude estimation or quaternion estimation? - 2003

   • 姿态估计或四元数估计

4. 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

5. Indirect Kalman filter for 3D attitude estimation - 2007

   • 三维姿态估计的间接卡尔曼滤波