Bosch, FreeScale, InvenSense, ST and maybe others are releasing 9-dof AHRS platforms containing their own fusion software and outputting filtered/sane/fused data (attitude as quaternion and linear acceleration).
I would like to use these for the quality of their respective company fusion algorithm. And would like to merge GNSS position and velocity data to it.
I have found multiple examples of heavy (> 20) states Kalman filters merging raw 9-dof IMU data and GNSS position/velocity.
But I have a hard time finding a computationally lighter version of GPS+AHRS fusion as these new 9-dof AHRS already fuse IMU raw data themselves and this process should'nt be done twice.
Would you maybe have pointers on the algorithm(s) or type of filter to use ? Thank you.