MATLAB Routine for Integrated Navigation: CKF Filtering on a 2D Plane, Fusing IMU and GNSS Data, Simulation with Observations on X and Y Axes
Using an 8-dimensional state model, it comprehensively describes position, velocity, attitude, and sensor biases in planar motion. The Cubature Kalman Filter is employed to handle nonlinear problems, offering better numerical stability and accuracy compared to traditional EKF, effectively fusing IMU and GNSS data to fully leverage the complementary advantages of both sensors. Table of Contents … Read more
