RIEKF

• See IEKF to understand the theories

• See RIEKF.m to see the code;

  • use IMU to perform prediction()
  • use GPS's position to perform correction
    • use the adjoint to put it on the left, then we put it back to the right
  • use odometry() to combine wheel vehicle's non-holonomic constraint and encoder to perform correction
  • use nonholonomic() to correct the state by the non-holonomic assumption

• not finished:

  • LIEKF.m

This code is mostly modified from the GitHub repo, Invariant-ekf.