neil-qu/ins-gps

INS-GPS

The file INS.pdf presents the main equations implemented for static IMU data.

Folders:

**** Folders for calibration and testing for static data ****

• "calculations" contain symbolic jacobian calculations used in "EKF_GDA".
• "static_validation" is a very simple EKF implementation for static data, that uses the jacobians explained in "calculations and the pdf document.
• "calibration" contains the code used to obtain the biases and scale factor as explained in the calibration section of the INS.pdf file.

**** Folders containing code to be used with real moving data ****

• "DEV" contains the latest developments in the code for a real cart moving.

The static data of the IMU at different frequencies is contained in "DATA_STATIC". The moving data of the IMU at different frequencies ia contained in "DATA_MOVE".