Implement Error State Kalman Filter for IMU and GPS sensor fusion

metisvela · Oct 2, 2024 · ca77cef · ca77cef
1 parent a38be77
commit ca77cef
Show file tree

Hide file tree

Showing 4 changed files with 194 additions and 550 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -10,4 +10,6 @@ rumqttc = "0.24"
 eskf = { git = "https://github.com/nordmoen/eskf-rs.git" }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
-nalgebra = { version = "=0.32.6", features = ["serde-serialize"] }
+nalgebra = { version = "=0.33.0", features = ["serde-serialize"] }
+map_3d = "0.1.5"
+num-quaternion = "0.2.23"
diff --git a/Cross.toml b/Cross.toml
diff --git a/src/bin/sailtrack-kalman-eksf.rs b/src/bin/sailtrack-kalman-eksf.rs