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ethz-asl / ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)
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Is it possible to Fuse IMU and Pressure (barometer) data? #193

Open astronaut71 opened 2 years ago

astronaut71 commented 2 years ago

Hi I would like to have 6x6 estimated Velocity matrices( linear and angular) from the IMU and Pressure sensor data. IMU is 9 DOF ( orientation, angular_velocity and linear_acceleration) and the Pressure. Barometer(pressure sensor data) can be use for the underwater robot as assume the sea (water ) level is same(constant) and the pressure suppose to maintain same value my linear movement of the underwater robot (vehicle). Is it possible to use this package to fuse this IMU and Pressure data to obtain estimated Velocity (linear and angular)?

Thanks

gzc1021 commented 2 years ago

Hello，Have you tried fuse IMU and Pressure by msf? Did you succeed?