6 DOF, loosely-coupled, error state EKF ROS node.
The 15 states are:
dX-, dY-, dZ-position (Navigation Frame) [In m] dX-, dY-, dZ-velocity (Navigation Frame) [In m/s] Roll, Pitch, Yaw Angle [In rad] X-, Y-, Z-accel bias (Body Frame) [In m/s^2] X-, Y-, Z-gyro bias (Body Frame) [In rad/s]
The outputs of the ROS node are:
X-, Y-, Z-position (Navigation Frame) [In m] X-, Y-, Z-velocity (Navigation Frame) [In m/s] 3 DOF Attitude 6 Biases Variances on each state 6 Unbiased Inputs
In the launch file:
Set the Q & R weights Set initial Covariance Set initial position, velocity, attitude, and biases Set GPS Sensor: ublox or novatel (Novatel yet to be tested) Set IMU Sensor: xbow440 Set Navigation Frame: ENU or NED Set receiving Position and/or Velocity Measurements