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I'm trying to develop a system with the following characteristics:

Inputs:

  • 3-axis accelerometer [3 DOF]
  • 3-axis gyroscope [3 DOF]
  • GPS with three parameters (lat, lon, altitude) [3 DOF]
  • Barometric pressure [1 DOF] -estimates altitude
  • 3-axis magnetometer [3 DOF]

Outputs:

  • lat, lon
  • altitude
  • velocity (x,y,z)
  • attitude
  • rotation speed

From the very basic research I've done, I think I need a Kalman Filter to fuse the sensor data together. The lat/lon/altitude from the GPS is augmented by the data from the sensors; giving overall better GPS accuracy.

Does anyone know how best to approach this problem and/or if there is any source code available?

Many thanks in advance,

3 Answers 3