I’ve been using Navio2 on a Quadcopter but right now I need to write a report for my project.
One of the topics required is to describe the Algorithms used for sensor fusion. From the code I can conclude that there are 3 main filters (DCM, EKF2, EKF3).
I would like to ask which of these are used (or which combination of them). I use Copter3.5.
Studying the code I’ve noticed the following lines at the AP_AHRS_NavEKF::update function.
So, I believe that this means DCM, EKF2 and EKF3 are used sequentially to update AHRS data.
Am I wrong?
I would also like to ask if there are any references for each of them, i.e., papers or technical reports. I’ve already found “Direction Cosine Matrix IMU: Theory” by Premerlani and Bizard (that describes most of the DCM filter). I’ve also found Paul’s repository but I was looking for something more theoretical on the subject. I have already implemented Extended Kalman Filters for orientation estimation before, but nothing as complex as EKF1 and EKF2
Thanks for the attention,