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How did you come to the conclusion that you will need an UKF? Make sure you understand the math behind a Kalman Filter first and understand why you would need an EKF or UKF over a normal KF. This article describes the math behind a Kalman Filter using an IMU but you can add more sensors to this setup.. https://www.bzarg.com/p/how-a-kalman-filter-works-in-...


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