EKF Combined Navigation Example: MATLAB Code for 15-Dimensional State and 3-Dimensional Observation
The EKF example for three-dimensional state (strict derivation of combined navigation). Based on a 15-dimensional error state model: position (3), velocity (3), attitude (3), gyroscope bias (3), accelerometer bias (3). The observation is three-dimensional position (there is also a program for three-dimensional position + velocity as observations). Article Directory Program Introduction Three-Dimensional EKF Combined Navigation … Read more