# imu_gps_localization

**Repository Path**: tcz1237/imu_gps_localization

## Basic Information

- **Project Name**: imu_gps_localization
- **Description**: Using error-state Kalman filter to fuse the IMU and GPS data for localization.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-04-28
- **Last Updated**: 2022-11-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IMU & GPS localization
## Using EKF to fuse IMU and GPS data to achieve global localization.
### The code is implemented base on the book "Quaterniond kinematics for the error-state Kalman filter"

![image](https://github.com/ydsf16/imu_gps_localization/blob/master/doc/path.png)

## For details, please refer to：https://zhuanlan.zhihu.com/p/152662055

## Dataset
https://epan-utbm.github.io/utbm_robocar_dataset/

For any issues, please feel free to contact **[Dongsheng Yang](https://github.com/ydsf16)**: <ydsf16@buaa.edu.cn>