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.
- 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