# pose_ekf

**Repository Path**: caolonghao/pose_ekf

## Basic Information

- **Project Name**: pose_ekf
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-08
- **Last Updated**: 2025-07-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# pose_ekf
Extented Kalman Filter for 6D pose estimation using gps, imu, magnetometer.


# 1. State for kalman filter

[p v q ba bw]

error state 
[dp dv d_theta dba, dbw]

# 2. inertial frame: NED

# 3. running
## 3.1 running with simulator
    cd catkin_ws/src
    git clone git@github.com:libing64/pose_ekf.git
    cd ..
    catkin_make -DCATKIN_WHITELIST_PACKAGES="pose_ekf"
    roslaunch pose_ekf pose_ekf_simulator.launch

![image](https://github.com/libing64/pose_ekf/blob/master/pose_ekf.gif) 

# 3.2 rosbag for test (TODO)