Sensor fusion of GNSS and IMU using UKF

I do have a land-based robot with an IMU and a GNSS receiver.

• From the IMU, I get the velocity and acceleration in both $$x$$ and $$y$$ directions.

• From the GNSS receiver, I get the latitude and longitude.

I want to fuse these data to get my exact position on the field. To get the most accurate position I want to use an Unscented Kalman Filter (UKF).

However, I don't really understand the concept of fusing these data. Most of the books I found just fused the IMU data and used it together with the GNSS data but by my understanding, I should get a more precise position when I fuse IMU and GNSS.

Can someone explain to me the concept of doing so or has a good source/tutorial?

This is for my bachelor thesis. Help would be much appreciated. Thanks!

• Take a look at Alonzo Kelly's work. Sep 5 '20 at 11:12