误差状态卡尔曼滤波器(ESKF)融合IMU与GPS数据

只使用IMU进行积分的结果	使用ESKF融合IMU和GPS

实现方法请参考我的博客《【附源码+代码注释】误差状态卡尔曼滤波(error-state Kalman Filter)实现GPS+IMU融合，EKF ErrorStateKalmanFilter GPS+IMU》

1. 依赖库

Eigen

sudo apt-get install libeigen3-dev

Yaml

sudo apt-get install libyaml-cpp-dev

Glog

sudo apt-get install libgoogle-glog-dev

2. 编译

cd eskf-gps-imu-fusion
mkdir build
cd build
cmake ..
make 

3. 运行

cd eskf-gps-imu-fusion
./build/gps_imu_fusion ./config/config.yaml ./data

4.轨迹显示

执行完./gps_imu_fusion会生成轨迹文件

cd eskf-gps-imu-fusion/data
python display_path.py

5.误差分析

推荐使用工具: evo

cd eskf-gps-imu-fusion/data
evo_traj tum fused.txt gt.txt gps_measurement.txt -p