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Answers are inline Qn 1. Does kalman filter require constant time step? Correct it does not. The reason you may find in literature that it requires a constant time step has to do with with lack of computing power in the 60s-90s and the discretization of a continuous system. You can read more about this in something like this, or other books that deal ...


When you want to detect the Yaw of a robot, you want to use an IMU. An IMU is an Inertial Measurement Unit. A standard IMU consists of an accelerometer, gyroscope, and magnetometer, each with 3 degrees of measurement (XYZ). A standard IMU contains these 3 sensors, together, such that the combined sensor data can be fused together to create an accurate ...


Yaw is not observable from gravity regardless of pitch.

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