├── AGZ_subset ├── Log Files │ ├── BarometricPressure.csv │ ├── GroundTruthAGL.csv │ ├── GroundTruthAGM.csv │ ├── OnboardGPS.csv │ ├── OnboardPose.csv │ ├── RawAccel.csv │ ├── RawGyro.csv │ └── StreetViewGPS.csv ├── example.png ├── plotPath.m └── readme.txt ├── Contact-Aided-Invariant-EKF-master ├── .gitignore ├── LICENSE ├── README.md └── matlab_example │ ├── data │ ├── ground_truth │ │ ├── orientation.mat │ │ ├── position.mat │ │ └── velocity.mat │ └── measurements │ │ ├── X_init.mat │ │ ├── angular_velocity.mat │ │ ├── contact.mat │ │ ├── encoders.mat │ │ └── linear_acceleration.mat │ ├── example_code │ ├── RIEKF.m │ ├── RIEKF_InitFcn.m │ ├── RIEKF_test.slx │ ├── Rotation_to_Euler.m │ └── plot_results.m │ ├── forward_kinematics │ ├── linux │ │ ├── J_VectorNav_to_LeftToeBottom.mexa64 │ │ ├── J_VectorNav_to_RightToeBottom.mexa64 │ │ ├── R_VectorNav_to_LeftToeBottom.mexa64 │ │ ├── R_VectorNav_to_RightToeBottom.mexa64 │ │ ├── p_VectorNav_to_LeftToeBottom.mexa64 │ │ └── p_VectorNav_to_RightToeBottom.mexa64 │ └── windows │ │ ├── J_VectorNav_to_LeftToeBottom.mexw64 │ │ ├── J_VectorNav_to_RightToeBottom.mexw64 │ │ ├── R_VectorNav_to_LeftToeBottom.mexw64 │ │ ├── R_VectorNav_to_RightToeBottom.mexw64 │ │ ├── p_VectorNav_to_LeftToeBottom.mexw64 │ │ └── p_VectorNav_to_RightToeBottom.mexw64 │ └── run_RIEKF_test.m ├── GPS_GT_plot.svg ├── IMU_GPS_GT_data.mat ├── InEKF.m ├── NAVARCH_code_examples ├── NA568_PS2_Key │ ├── EKF.m │ ├── InEKF.m │ ├── PF.m │ ├── UKF.m │ ├── lib │ │ ├── calculateEllipseXY.m │ │ ├── draw_ellipse.m │ │ ├── ellipse_plotter.m │ │ ├── endPoint.m │ │ ├── filter_initialization.m │ │ ├── generateMotion.m │ │ ├── generateScript.m │ │ ├── getfieldinfo.m │ │ ├── mahalanobis.m │ │ ├── observation.m │ │ ├── plotSamples.m │ │ ├── plotcircle.m │ │ ├── plotcov2d.m │ │ ├── plotfield.m │ │ ├── plotmarker.m │ │ ├── plotrobot.m │ │ ├── prediction.m │ │ ├── sampleOdometry.m │ │ ├── system_initialization.m │ │ └── unscented_transform.m │ ├── lieTocartesian.m │ └── run.m ├── riekf.m ├── riekf_localization_se2.avi └── riekf_localization_se2.m ├── README.md ├── ROB_568_Final_Report__GPS_fusion.pdf ├── example.png ├── lib ├── Gamma_0.m ├── Gamma_1.m ├── Gamma_2.m ├── IMU_GPS_GT_data.mat ├── evaluation.m ├── filter_initialization.m ├── gps2cart.m ├── hat.m ├── imuDynamics.m ├── loadCartesianGPS.m ├── loadGroundTruthAGL.m ├── loadIMUandGPS.m ├── loadOnboardGPS.m ├── loadRawAccel.m ├── loadRawGyro.m ├── plotGPS.m ├── prediction.m ├── skew.m ├── system_initialization.m ├── unskew.m └── wedge.m ├── plotpath.png ├── run.m ├── sample.png └── test.png /AGZ_subset/Log Files/BarometricPressure.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bkarwoski/EKF_fusion/HEAD/AGZ_subset/Log Files/BarometricPressure.csv -------------------------------------------------------------------------------- /AGZ_subset/Log Files/GroundTruthAGL.csv: 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