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Extended Kalman Filter - IMU/GNSS Fusion

Extended Kalman Filter - IMU/GNSS Fusion

Implemented Extended Kalman Filter for sensor fusion, combining IMU and GNSS data for accurate vehicle position estimation.

Sep 2024 — Dec 2024
completed
Kalman FilterSensor FusionMATLABIMUGNSSState Estimation
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Overview

Course project for Autonomy for Mobile Robots (ELEC 484) implementing Extended Kalman Filter for sensor fusion.

Part 1: Trajectory Extraction

  • Extracted vehicle trajectory from raw IMU/INS data
  • Computed motion parameters and path reconstruction

Part 2: EKF Implementation

  • Implemented Extended Kalman Filter from scratch
  • Fused IMU and GNSS measurements
  • Achieved accurate real-time position estimation
  • Handled sensor noise and uncertainty propagation