Imu and Uwb Fusion by ESKF ver1.0

This repository is Error-State Kalman Filter for Imu-Uwb sensor fusion. This is modified version of chennuo0125-HIT/imu_gps_fusion repository.

Explain

• https://blog.csdn.net/weixin_37835423/article/details/109452148
• https://blog.csdn.net/weixin_37835423/article/details/109476346

Requirements

• ROS Noetic
• Eigen3

Reference Theory

• Quaternion kinematics for error state kalman filter

Used in

• wgs_conversions for transform between coordinate in wgs frame and coordinate in enu frame