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dbfe8c0242
The covariance was not being updated with the observation from one axis before the innovation variance was calculated for the next axis. This results in greater weighting on measurements for subsequent axes.
ECL
Very lightweight Estimation & Control Library.
This library solves the estimation & control problems of a number of robots and drones. It accepts GPS, vision and inertial sensor inputs. It is extremely lightweight and efficient and yet has the rugged field-proven performance.
The library is currently BSD licensed, but might move to Apache 2.0.
Building EKF Library
Prerequisites:
- Eigen3: http://eigen.tuxfamily.org/index.php installed
Ubuntu:
sudo apt-get install libeigen3-dev
Mac
brew install eigen
By following the steps mentioned below you can create a shared library which can be included in projects using -l flag of gcc:
mkdir Build/
cd Build/
cmake ../EKF
make
Alternatively, just run:
./build.sh