An implementation of an Error State Kalman Filter (ESKF)

The ambition of this repository is to make an estimator that can take accelerometer/gyro readings and integrate them into a 6DOF pose. This will also be corrected by a motion capture system (or any absolute position input.).

Where possible notation and concepts will be taken from the notes provided by Joan Sola. Found at https://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf

This implementation is intended to run on an embedded device. In my case an STM32 development board.

mkdir build

cd build

cmake ..

make -j8