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,