Please refer https://github.com/balamuruganky/EKF_IMU_GPS for more details.
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Extended Kalman Filter (EKF) to fuse GPS coordinates, Altitude, Velocity(NED), Accelerometer X, Accelerometer Y, Accelerometer Z, Gyro X, Gyro Y, Gyro Z, Magnetometer X, Magnetometer Y and Magnetometer Z
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balamuruganky/ekf_nav_ins
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Extended Kalman Filter (EKF) to fuse GPS coordinates, Altitude, Velocity(NED), Accelerometer X, Accelerometer Y, Accelerometer Z, Gyro X, Gyro Y, Gyro Z, Magnetometer X, Magnetometer Y and Magnetometer Z
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