What is the position given by the EKF?

ArduRover Rover 4.5
1

Hello!

I’ve been searching online but haven’t found a clear answer to this question. I assume that if you only have one GPS, and the parameters GPS_POS and INS_POS are set to 0, then the position estimate would reflect the antenna’s location.

However, what happens if those parameters (GPS_POS and INS_POS) are not set to 0? Would the position estimate then represent the center of gravity (described by INS_POS), or would it still reflect the GPS position?

Any help would be greatly appreciated

2

The position would be the center of gravity then.