This is a theoretical question. I want to ask the writers of this code base about the equations they used to model the IMU and to integrate its measurement in the EKF framework. Any useful reference will do a world of good to me.

ppoirier
(ppoirier)
May 3, 2018, 5:41pm
#2
Hello

The answer is within the code:

```
% IMPORTANT - This script requires the Matlab symbolic toolbox and takes ~3 hours to run
% Derivation of Navigation EKF using a local NED earth Tangent Frame and
% XYZ body fixed frame
% Sequential fusion of velocity and position measurements
% Fusion of true airspeed
% Sequential fusion of magnetic flux measurements
% 24 state architecture.
% IMU data is assumed to arrive at a constant rate with a time step of dt
% IMU delta angle and velocity data are used as control inputs,
% not observations
% Author: Paul Riseborough
% Based on use of a rotation vector for attitude estimation as described
% here:
% Mark E. Pittelkau. "Rotation Vector in Attitude Estimation",
% Journal of Guidance, Control, and Dynamics, Vol. 26, No. 6 (2003),
% pp. 855-860.
```

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Cool! m files make life even simpler!! Thank you so much!