bearing-tracking

Code

The code from my thesis. Included: Nonlinear estimation and tracking software in C++. EKF, Iterative Weighted Least Squares, Iterated EKF, and more.

Included:

Nonlinear estimation and tracking software in C++.

• EKF
• Iterative Weighted Least Squares
• Iterated EKF
• Batch-recursive smoothing

for one or more sensors and targets. And more.

ROS NODE

A ROS wrapper is included for calling the estimation services using a batch of measurements and, perhaps, a prior.