├── .gitignore ├── .vscode ├── launch.json ├── settings.json └── tasks.json ├── 3rd ├── GeographicLib │ ├── CMakeLists.txt │ ├── include │ │ └── Geocentric │ │ │ ├── Config.h │ │ │ ├── Constants.hpp │ │ │ ├── Geocentric.hpp │ │ │ ├── LocalCartesian.hpp │ │ │ └── Math.hpp │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp └── sophus │ ├── common.hpp │ ├── example_ensure_handler.cpp │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim3.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── test_macros.hpp │ └── types.hpp ├── CMakeLists.txt ├── app └── gps_imu_fusion.cpp ├── cmake ├── YAML.cmake ├── eigen.cmake ├── global_defination.cmake └── sophus.cmake ├── config └── config.yaml ├── data ├── fused.txt ├── gt.txt ├── image │ ├── eskf_reset_不更新P │ │ ├── rpy.png │ │ └── xyz.png │ ├── eskf_reset_更新P │ │ ├── rpy.png │ │ └── xyz.png │ └── eskf_去除accel_bias影响 │ │ ├── rpy.png │ │ └── xyz.png ├── measured.txt ├── raw_data │ ├── EKF_res │ │ ├── traj.png │ │ ├── trajector.png │ │ ├── trajectory.png │ │ └── xyz.png │ ├── ESKF │ │ ├── trajectory.png │ │ └── xyz.png │ ├── ESKFQK │ │ ├── trajectory.png │ │ └── xyz.png │ ├── accel-0.csv │ ├── gps-0.csv │ ├── gps_time.csv │ ├── gyro-0.csv │ ├── ref_accel.csv │ ├── ref_gps.csv │ ├── ref_gyro.csv │ └── time.csv ├── raw_data1 │ ├── EKF_res │ │ ├── trajectory.png │ │ └── xyz.png │ ├── ESKFQK │ │ ├── trajectory.png │ │ └── xyz.png │ ├── accel-0.csv │ ├── gps-0.csv │ ├── gps_time.csv │ ├── gps_visibility.csv │ ├── gyro-0.csv │ ├── mag-0.csv │ ├── ref_accel.csv │ ├── ref_att_euler.csv │ ├── ref_att_quat.csv │ ├── ref_gps.csv │ ├── ref_gyro.csv │ ├── ref_mag.csv │ ├── ref_pos.csv │ ├── ref_vel.csv │ ├── results │ │ ├── trajectory.png │ │ └── xyz_view.png │ ├── summary.txt │ └── time.csv └── raw_data_mid_accuracy │ ├── accel-0.csv │ ├── gps-0.csv │ ├── gps_time.csv │ ├── gps_visibility.csv │ ├── gyro-0.csv │ ├── mag-0.csv │ ├── ref_accel.csv │ ├── ref_att_euler.csv │ ├── ref_att_quat.csv │ ├── ref_gps.csv │ ├── ref_gyro.csv │ ├── ref_mag.csv │ ├── ref_pos.csv │ ├── ref_vel.csv │ ├── summary.txt │ └── time.csv ├── gnss-inss-sim ├── my_test.csv ├── my_test.py └── readme.md ├── include ├── ekf.h ├── eskf.h ├── eskf_qk.h ├── filter_flow.h ├── filter_interface.h ├── global_defination.h.in ├── gps_data.h ├── gps_flow.h ├── imu_data.h ├── imu_flow.h ├── observability_analysis.h └── tool.h ├── paper ├── ekf_ukf.pdf ├── imu_6dof_stereo_vo_fusion_ukf_CG20220227.pdf ├── researchgate │ ├── DCMDraft2.pdf │ ├── Kalman.ino │ └── madgwick_internal_report.pdf ├── sensors-15-10872.pdf ├── 多传感器融合定位-第4章.pdf └── 重要Quaternion_kinematics_for_the_error-state_KF.pdf ├── readme.md ├── src ├── ekf.cpp ├── eskf.cpp ├── eskf_qk.cpp ├── filter_flow.cpp ├── gps_flow.cpp ├── imu_flow.cpp └── observability_analysis.cpp └── test ├── test_gps.cpp └── test_imu.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Shelfcol/gps_imu_fusion/HEAD/.gitignore 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