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A Kalman filter is an optimal estimator for linear dynamical systems with Gaussian noise. Extensions to non-linear systems are included through the Extended KF and Unscented KF.

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You can greatly simplify the problem in most common cases: A lot of "commercial grade" IMus (e.g. Xsens) have very noisy accelerometers. Don't even bother fusing them to get speed, the odometry is a …
answered Nov 18 '12 by sylvain.joyeux