Collaborative EKF Localization

Filter is implemented on UWB range measurements & IMU. The code is based mostly on these papers (with some trivial changes):

1. https://journals.sagepub.com/doi/abs/10.1177/0278364918760698
2. https://arxiv.org/abs/2104.14106

Project depends on: https://github.com/Aceinna/gnss-ins-sim for generating simulated IMU data.

Install with docker

docker build -t myapp .
docker run -it --rm -v "$(pwd)":/app -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --user=$(id -u) myapp

Data

Run ./gen_data.py to generate data used for experiments.

Run

Execute ./ckf_sim.py to run simulation. Main implementation is in ckf.py class.