Overall, the EKF seems to be fairly robust in many cases except for edge cases such as during some corners (possibly due to the a non-level ground) and when the ETH-Zurich package does not filter the output when the GPS signals start reflecting off the windows at the Student Union. One change that we can implement in a future issue is to ignore GPS signals when we're within a certain X-Y position on campus.
menson168
commented
5 years ago
Closes #205
Overall, the EKF seems to be fairly robust in many cases except for edge cases such as during some corners (possibly due to the a non-level ground) and when the ETH-Zurich package does not filter the output when the GPS signals start reflecting off the windows at the Student Union. One change that we can implement in a future issue is to ignore GPS signals when we're within a certain X-Y position on campus.