xijunke / eskf

An implementation of an Error State Kalman Filter (ESKF)

ESKF

An implementation of an Error State Kalman Filter (ESKF)

The ambition of this repository is to make an estimator that can take accelerometer/gyro readings and integrate them into a 6DOF pose. This will also be corrected by a motion capture system (or any absolute position input.).

Where possible notation and concepts will be taken from the notes provided by Joan Sola. Found at http://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf

This implementation is intended to run on an embedded device. In my case an STM32 development board.

Building

mkdir build

cd build

cmake ..

make -j8