error state Kalman filter for IMU and GNSS fusion

Version 1.0.0.0 (7.76 MB) by Pekka Peltola
Fuse IMU and GNSS
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1.1K Downloads
Updated 12 Jul 2017

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Done for Microstrain 3DM-GX4-45 and measurement records on Debian laptop. Check Groves' book (ed.2 2013) and Madgwick's work.

Cite As

Pekka Peltola (2026). error state Kalman filter for IMU and GNSS fusion (https://www.mathworks.com/matlabcentral/fileexchange/63694-error-state-kalman-filter-for-imu-and-gnss-fusion), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2016a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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eskf/

eskf/eskf/

eskf/quaternion/

eskf/setup/

eskf/setup/imu/

eskf/setup/map/

Version Published Release Notes
1.0.0.0