I have a robot which has (for simplicity) only one degree of freedom; it rotates about the z-axis (think like a crane), and has no slip.
The shaft encoder delivers data in 0.1° increments, so when measured at 30 Hz, there is usually a succession of identical values until the value jumps to the next 0.1°.
I have an IMU with a Gyroscope that I can place somewhere on the robot (not at the center of rotation).
I would like to update estimates of the current angle of rotation at greater than 30 Hz.
How would one go about fusing this very coarse encoder and IMU data? I'm assuming EKF filtering will be part of the answer.
I would be very satisfied with canonical literature on this topic as well.