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rodralez / NaveGo

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.
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Check if biases states in Kalman filter should be error states or direct states #129

Closed rodralez closed 2 years ago

rodralez commented 2 years ago

Check in Groves' book if biases states in Kalman filter are error states or direct states. Correct the code according.

rodralez commented 2 years ago

It is checked that inertial biases states are error states in Kalman filter. They are the errors between both truth and noisy inertial measurements, as shown in Eq. 4.18, Groves' book.

Modified files are:

  1. ins_gnss.m
  2. ins_gnss_mag.m
  3. ins_visual.m
  4. ins_visual_gnss.m