IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP
calibration for Imu and show gesture
Self-position estimation by eskf by measuring gnss and imu
Error State Kalman Filter All in One, from Theory to Practice.
INS/GNSS/ODO/NHC integrated navigation framework comparing InEKF and ESKF under GNSS outage and large initial errors.
cross platform utility applications
This repo is a high-performance VIO, featuring real-time msckf-style state estimation
My adventure into getting an old HP Reverb G2 WMR to work in linux
PyBullet drone swarm: 15-state ESKF GNSS/INS navigation with NEES/NIS validation, and causal analysis of failures (NRI, event models) verified by interventions
Fast FreeRTOS-based quadcopter flight controller with orientation and position stabilization, deterministic timing for resource-constrained microcontrollers.
no_std, allocation-free error-state Kalman filter (ESKF) for inertial navigation on UAVs and flight controllers. Fuses IMU with GNSS position, velocity and dual-antenna heading, course over ground, barometric altitude and magnetic heading. Validated on PX4 logs against EKF2.
Realistic 3D Autonomous Drone Simulation in Three.js with 15-State ESKF and GRU V3 Learned Navigation
STM32H743 FreeRTOS UAV flight controller with event-driven IMU-to-control pipeline, VQF/ESKF, SD blackbox, MAVLink 2, and SystemView.
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