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Welcome to the Sensor Fusion wiki!

For the installation guide check the README section.

This package contains a multi-sensor Quaternion based Error-state extended Kalman filter for estimating the UAV state.

The code is based on the papers:

• [1] Joan Sola: Quaternion kinematics for the error-state Kalman filter
  • Very useful read for a deeper understanding of the algorithm
• [2] Simon Lynen; Markus W. Achtelik; Stephan Weiss; Margarita Chli; Roland Siegwart:A robust and modular multi-sensor fusion approach applied to MAV navigation

Sections:

• Introduction
• Algorithm Description
• Using the package (Configuration file explanation)