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invariant-ekf's Introduction

Invariant EKF for IMU+GPS System

Implementation of an Invariant EKF for a system outfitted with an inertial measurement unit (IMU) and a GPS. We used the Zurich Urban Micro Aerial Vehicle Dataset to test our filter. For more details, please refer to our technical report.

Repository Contents

  • docs
    • Project paper
  • inekf
    • Invariant EKF implementation in C++
    • Modules and test cases
    • Dependency information and build instruction in inekf/Readme.md
  • scripts
    • Matlab scripts used for development
    • Fake data generation and tests
    • AGZ data set loading and testing

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