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Yes. This approach is commonly used when IMUs are present because they measure the rate of state change with some uncertainty.


Your noise term for the KF needs to reflect how you expect the true propagation of the state will differ from your model of the propagation. For example, the acceleration uncertainty is 1 while your true uncertainty is drawn from a uniform distribution of [-10,10]. I altered your code so the KF is now using the IMU information within the propagation step. ...

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