UKF / ES-EKF UWB-IMU

Pose estimation Using ESEKF, UKF Sensor Fusion(UWB-IMU) in Gazebo

roslaunch uwb_imu esekf_uwb_imu.launch

uwb pose

• 0x116F (440, 90, 245)
• 0x1166 (440, -360, 243)
• 0x113B (-54, 203, 240)
• 0x1179 (-478, 18, 251)
• 0x1102 (-438, -480, 248)

Gazebo

Real test (ST-mini)

hw.mp4

UKF_ESEKF-SO.3.-2024-04-11_15.07.15.mp4