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So I do have a wheeled robot and I want to fuse position data with odometry data.

Someone suggested using the position encoded in ECEF rather than using the LAT/LON/Height information I get from the GNSS receiver for fusing with a UKF and then converting back.

The questions now are:
What are the kee advantages by doing so?
And how would you suggest to do it, are there any papers about this?
Do I need to convert the odometry data too, and if yes, to what?

Thanks!

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