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cggos / imu_x_fusion

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP
https://msf.cgabc.xyz/
GNU General Public License v3.0
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bro, this is EKF, not ESKF #4

Open bluebird581 opened 3 years ago

cggos commented 3 years ago

it is indeed ESKF, because the state vector is in the form of error state instead of true state and the measurement jacobian is defined h(x)/delta x.