GAVLab/loosely_coupled_ekf

Name: loosely_coupled_ekf

Owner: GAVLab

Description: 6 DOF, loosely-coupled, error state EKF ROS node.

Created: 2017-04-06 20:06:24.0

Updated: 2017-08-04 03:27:46.0

Pushed: 2017-08-08 16:08:21.0

Homepage: null

Size: 27

Language: C++

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README

loosely_coupled_ekf

6 DOF, loosely-coupled, error state EKF ROS node.

The 15 states are:

dX-, dY-, dZ-position (Navigation Frame) [In m] dX-, dY-, dZ-velocity (Navigation Frame) [In m/s] Roll, Pitch, Yaw Angle [In rad] X-, Y-, Z-accel bias (Body Frame) [In m/s^2] X-, Y-, Z-gyro bias (Body Frame) [In rad/s]

The outputs of the ROS node are:

X-, Y-, Z-position (Navigation Frame) [In m] X-, Y-, Z-velocity (Navigation Frame) [In m/s] 3 DOF Attitude 6 Biases Variances on each state 6 Unbiased Inputs

In the launch file:

Set the Q & R weights Set initial Covariance Set initial position, velocity, attitude, and biases Set GPS Sensor: ublox or novatel (Novatel yet to be tested) Set IMU Sensor: xbow440 Set Navigation Frame: ENU or NED Set receiving Position and/or Velocity Measurements