This repository implements a Robust Unscented Kalman Filter (UKF) to achieve precise sensor fusion for state estimation. By integrating noisy and asynchronous sensor data, such as orientation, pose, ...

This repository is part of a thesis I co-authored, and the implementation of the Kalman filter was developed by me. Feel free to reach out with any questions about this filter. I primarily referred to ...

If we are hiring someone such as a carpenter or an auto mechanic, we always look for two things: what kind of tools they have and what they do when things go wrong. For many types of embedded systems, ...

This is an expository article that develops the Kalman filter from a Cholesky factorization perspective. In particular, the Kalman filter is shown to be a modification of the Cholesky factorization ...

Abstract: In this paper, we develop a flexible FPGA-based Kalman filter IP core design that can be customized to any system in order to provide faster and more reliable operation of the Kalman filter, ...