https://github.com/srujan-d/uav_localization

My implementations for filters used for state estimation and localization.
https://github.com/srujan-d/uav_localization

drone ekf ekf-localization quadcopter robotics state-estimation uav

Last synced: 18 days ago
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My implementations for filters used for state estimation and localization.

• Host: GitHub
• URL: https://github.com/srujan-d/uav_localization
• Owner: Srujan-D
• License: mit
• Created: 2021-03-11T17:50:20.000Z (almost 4 years ago)
• Default Branch: main
• Last Pushed: 2021-07-14T04:11:35.000Z (over 3 years ago)
• Last Synced: 2024-12-30T16:51:47.237Z (about 1 month ago)
• Topics: drone, ekf, ekf-localization, quadcopter, robotics, state-estimation, uav
• Homepage:
• Size: 39.1 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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# UAV_Localization

My implementations for filters used for state estimation and localization.

Currently has ekf implementation in C++ (branch- ekf). It is incomplete as of now. 

TODO:

- [ ] Figure out how to call the prediction and update functions from the sensor callbacks.

- [ ] Add white guasssian noise in prediction cov. For this explore imu sdf files for, apparently they have gaussian noise ka functionality. Lidar had it, so should be there in imu as wel.

- [ ] To include parameter severs and yaml file (https://answers.ros.org/question/356580/how-are-yaml-files-used-in-ros/) (http://wiki.ros.org/roscpp/Overview/Parameter%20Server)

- [ ] Publish errors of the pose estimates and the gazebo odom so that we can judge the filter. Can use plotjuggler for this.