Kalman Filter & Extended Kalman Filter

The aim of This Project

This project considers the problem of localization for trucks traveling on highways. An Extended Kalman Filter is constructed by fusing GPS and IMU sensors. The Linear Kalman Filter is also applied to the same system for comparison. The algorithm is built as a ROS package as a framework in C++ following OOP paradigms

DEPENDENCIES

'PlotJuggler' was used to visualize the algorithm outputs and the measurements taken from GPS-IMU sensors on a graph. This application is installed in the system with the following command.

sudo apt install ros-$ROS_DISTRO-plotjuggler-ros

For the rest of the dependencies you can run this command:

rosdep install --from-paths src --ignore-src -r -y

Running Extended Kalman Filter

roslaunch kf ekf.launch

Running Kalman Filter

roslaunch kf kf.launch

Running PlotJuggler

rosrun plotjuggler plotjuggler