So I am trying to implement a Kalman filter for an Inertial Measurement Unit (IMU) using an Arduino.

I have 4 sensors:

  • GPS
  • Accelerometer
  • Gyroscope
  • Magnetometer

To measure various vehicle properties such as velocity/acceleration/position/roll/yaw/pitch. I'm struggling to understand if I should be using a standard (KF) or EKF filter.

My guess is standard filter is fine as the sensor values have a linear relation to what I am trying to measure, but i'm not 100% sure on this.

Can anyone provide any insight? Thanks.

  • \$\begingroup\$ Maybe in the signal processing SE you can find the answers you need? \$\endgroup\$ – Enric Blanco Feb 13 '17 at 19:38
  • \$\begingroup\$ Depends on the available resources and required sampling time. EKF is better but more heavy. \$\endgroup\$ – Marko Buršič Feb 13 '17 at 21:01

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