# Tag Info

### Open source implementations for GPS+IMU sensor fusion?

Yes. The px4 software for the pixhawk autopilot has an extended kalman filter that uses an accelerometer, a gyroscope, gps, and mag. A paper describing the a smaller ekf which only estimates attitude ...
• 1,823
Accepted

### What is the difference between Positioning and Localization Systems

In my opinion, the main difference is : Positioning : gives information about the robot coordinates. It gives raw data that you can use. Localization : it is the process of the robot (or other actor) ...
• 561
Accepted

### Kalman Filter GPS + IMU

This is a complete re-working of the answer I had originally provided. If you're curious, you can check the edit history and see what was posted earlier. In comments to this question, OP stated that ...
• 14.9k

### Open source implementations for GPS+IMU sensor fusion?

ROS has a package called robot_localization that can be used to fuse IMU and GPS data. This package implements Extended and Unscented Kalman filter algorithms. The package can be found here.
• 378

### Absolute positioning without GPS

I know this is an old question but I will just add a bit to the currently existing answers. First, this is a very complex problem that everyone is trying to tackle, including google with their Tango ...
Accepted

### Integrating GPS into Graph SLAM (how orientation fixed?)

You can use a very low information matrix value at the orientation elements of your state, given that the information matrix is the inverse of the covariance matrix. The covariance matrix ...

### How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?

I would go with one of two-ish methods to do this, but both methods require the craft to know its own position. You could do this with GPS, or an IMU, or any other means or combination of position ...
• 14.9k

### Path following with precise positioning system (RTK)

Precise vehicle location is not a very useful piece of data in autonomous driving so I would not expect to see many products focusing on it. Path planning and following for cars is a solved problem. ...
• 4,245

### imu position without GPS or camera

No, it is not possible to eliminate the cumulative position error caused by sensor noise and bias without using an additional sensor which can report any kind of position measurement. Even the best ...
• 520

• 31
Accepted

### I fused a GPS and IMU and I am wondering if my results make sense

Do you have a simulation? I would recommend that you simulate the data first to debug and tune your KF. The simulation should model the true IMU outputs (Grove has some details on that) and true ...
• 46

### To calculate roll,pitch and yaw

The position coordinates x, y, z are inadequate information to compute the roll pitch and yaw. x, y, and z are the position of the vehicle in space. roll, pitch, and yaw are the attitude or ...
• 1,184

### Low-cost centimeter accurate satellite positioning (GNSS/GPS)

Depending on your actual project, you can choose several options. DGPS accurate to 0.5 to 2 meters for real time application, meaning get corrected position now. Needs one GPS receiver and one data ...
• 419

### Low-cost centimeter accurate satellite positioning (GNSS/GPS)

You are already mentioning that RTKLIB and a raw sensor would be the solution. Looking at the list of supported protocols in rtklib, there is a mention of the ublox modules. The LEA6T modules seem to ...
• 2,964
Accepted

### Kalman filter Issue - GPS Odometry Fusion

In regards to your question about differential drive, it sounds as though your robot is using the kinematic model to estimate the position, but this is being done "internally" (i.e., in the embedded ...
• 960

### Absolute positioning without GPS

Optical flow sensors (such as those used in computer mouses) are good for this situation. Most will give output in terms of translation. Alternatively, you can just use a basic camera and run some ...
• 1,027

### Low-cost centimeter accurate satellite positioning (GNSS/GPS)

Ublox sell an RTK solution which provides 2cm accuracy. The evaluation kit is €359 and it works beautifully.
• 121

### Low-cost centimeter accurate satellite positioning (GNSS/GPS)

Reach RTK (USD\$570) looks really good as it is, but what looks promising is that there is an IMU on board, which when integrated should enable less than 1cm error (std. dev.) once the INS has ...
• 872

### Solution for INS and GPS integration

I was in exactly the same boat with my master's thesis; wave-based imaging (sonar and radar) seemed so common that all the papers I read assumed you knew the fundamental concept and they were going to ...
• 14.9k

### Are there off the shelf solutions for GPS+INS (accelerometer,gyro,magneto) sensor fusion for getting filtered/fused location and speed output?

There are many GPS+INS fusion units available on the market. The price, weight and size of the units can vary dramatically depending on the GPS positioning accuracy and rate of drift from the INS. The ...
• 21

### How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?

Primarily it will be GPS based. I have a Phantom 3 Pro and I have seen how the Go Home feature works. Before it returns to the x,y coordinates set as "home" it goes to a specific altitude. Presumably ...
• 1,027

### Open source implementations for GPS+IMU sensor fusion?

A followup on holmeski's reply. It seems those pages have been taken down. I found the old webpages on the 'Way Back Machine'. Pixhawk Attitude Estimator (EKF) Pixhawk ekf_att_pos_estimator (...
• 21

### imu position without GPS or camera

Of course, it is possible. You need to go for a sensor fusion algorithm, that could be Kalman Filter or Complementary Filter. I personally found very useful the procedure described at the following ...
• 341

### All-in-one GNSS localization solution (hardware+software)

I have used both KVH CNS-5000 and the Xsens MTi-G-710 that do what you are asking. Both these products provide on-board sensor fusion. The CNS-5000 uses an EKF and I am not sure about the Xsens. They ...

### imu position without GPS or camera

The answer to this question greatly depends on your acceptable error, and budget. As the other two answers have stated, it is practically impossible to dead-reckon the position without directly ...
• 872

### Differential GPS or Simple GPS for Robot navigation and odometry?

Do not give up on encoders. They are a great complement to GPS. I don't know what precision you want to reach, or what terrain your robot will operate in, but wherever it will be, encoders will give ...
• 963
Accepted

### Ardupilot on Raspberry Pi

Firstly, you may be confusing ArduPilot/ArduCopter software with the ArduPilot Mega (APM) hardware platform. ArduPilot/ArduCopter is indeed a great piece of software and is still maintained. The ...
• 1,284