README.md

pose_ekf

Extented Kalman Filter for 6D pose estimation using gps, imu, magnetometer.

1. State for kalman filter

[p v q ba bw]

error state [dp dv d_theta dba, dbw]

2. inertial frame: NED

3. running

3.1 running with simulator

cd catkin_ws/src
git clone git@github.com:libing64/pose_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="pose_ekf"
roslaunch pose_ekf pose_ekf_simulator.launch

3.2 rosbag for test (TODO)