The file INS.pdf presents the main equations implemented for static IMU data.
Folders:
**** Folders for calibration and testing for static data ****
- "calculations" contain symbolic jacobian calculations used in "EKF_GDA".
- "static_validation" is a very simple EKF implementation for static data, that uses the jacobians explained in "calculations and the pdf document.
- "calibration" contains the code used to obtain the biases and scale factor as explained in the calibration section of the INS.pdf file.
**** Folders containing code to be used with real moving data ****
- "DEV" contains the latest developments in the code for a real cart moving.
The static data of the IMU at different frequencies is contained in "DATA_STATIC". The moving data of the IMU at different frequencies ia contained in "DATA_MOVE".