I’m researching the drift EKF3 would have during GPS failure according to the IMUs used.
I’m currently comparing a CUAV X7 Pro and a CubeOrange. The X7 Pro has a much better IMU (ADIS16470), but the drift seems to be much more rapid than the one observed on the CubeOrange. Parameters seems to be the same on both systems.
My question would be : What parameters should I look to tune to allow the EKF to trust the better IMU more during an aiding sensor loss?