RossHartley / invariant-ekf

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.
BSD 3-Clause "New" or "Revised" License
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Implementing ZUPT #7

Open Atlis opened 4 years ago

Atlis commented 4 years ago

Hello,

I want to implement ZUPT (zero velocity updates). I first thought it would be a piece of cake but I came to the realisation that I have to master the theory first... which is not out of reach, but certainly going to take least a couple of days. Still, the solution might be really simple so I'm taking a chance here. Perhaps someone could provide the solution in just a few key lines of code.

Thanks to anyone! And a big thanks to Ross Hartley for sharing.