An implementation of an Error State Kalman Filter (ESKF)
The ambition of this repository is to make an estimator that can take accelerometer/gyro readings and integrate them into a 6DOF pose. This will also be corrected by a motion capture system (or any absolute position input.).
Where possible notation and concepts will be taken from the notes provided by Joan Sola. Found at http://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf
This implementation is intended to run on an embedded device. In my case an STM32 development board.
mkdir build
cd build
cmake ..
make -j8