IMU & GPS localization

Using EKF to fuse IMU and GPS data to achieve global localization.

The code is implemented base on the book "Quaterniond kinematics for the error-state Kalman filter"

For details, please refer to：https://zhuanlan.zhihu.com/p/94030638

Dataset

https://epan-utbm.github.io/utbm_robocar_dataset/

For any issues, please feel free to contact Dongsheng Yang: ydsf16@buaa.edu.cn