kalman-localization Implementation of localization using sensor fusion of GPS/INS/compass through an error-state Kalman filter. The MATLAB code borrows heavily Paul D. Groves book, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, his MATLAB code is marked as his, and is held under the BSD license. This code is very much a work-in-progress as I transition a MATLAB implementation to C++. Until the code is in a stable state, I will make changes based on my own needs, with complete disregard for backwards compatibility. If you liked it, then you shoulda used a fork on github. Following the initial development, I may make it more portable.

kalman-localization-1.0.0
.........................\.gitignore
.........................\LICENSE
.........................\MATLAB
.........................\......\GrovesCode
.........................\......\..........\CTM_to_Euler.m
.........................\......\..........\ECEF_to_NED.m
.........................\......\..........\Euler_to_CTM.m
.........................\......\..........\Gravity_ECEF.m
.........................\......\..........\Initialize_LC_P_matrix.m
.........................\......\..........\Kinematics_ECEF.m
.........................\......\..........\License.txt
.........................\......\..........\NED_to_ECEF.m
.........................\......\..........\Nav_equations_ECEF.m
.........................\......\..........\Skew_symmetric.m
.........................\......\..........\pv_ECEF_to_NED.m
.........................\......\LC_KF_Epoch.m
.........................\......\Loosely_coupled_INS_GNSS.m
.........................\......\README.md
.........................\......\brute_force_tune.m
.........................\......\deg2utm.m
.........................\......\figurec.m
.........................\......\initialize_and_run.m
.........................\......\inversePD.m
.........................\......\view_gps_and_time.m
.........................\README.md

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