Error-state Kalman Filter implementation#596

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Talhanc wants to merge 35 commits intomainfrom

dev/auv-navigation-eskf

Commits on Feb 9, 2025

feat: added the math and setup of the ESKF, need some changes
Talhanc
committed

Commits on Feb 10, 2025

feat: added in the IMU msg and DVL msg, pluss ros2 setup
Talhanc
committed

Commits on Feb 21, 2025

feat: added ES-UKF filter
Talhanc
committed

Commits on Feb 27, 2025

feat: added UKF fix injection step
Talhanc
committed

Commits on Mar 9, 2025

feat: working ukf filter is added, some issue in the ESUKF
Talhanc
committed

Commits on Mar 14, 2025

Commits on Mar 20, 2025

added changes to ukf
Talhanc
committed

Commits on Mar 28, 2025

feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info
Talhanc
committed

Commits on Apr 2, 2025

fix: Added correction for the IMU measurements
Talhanc
committed

Commits on Apr 5, 2025

fix: added errorstate and nominalstate variables into the eskf class
Talhanc
committed

Commits on Apr 17, 2025

Commits on May 8, 2025

feat: added NIS plots
Talhanc
committed

Commits on May 13, 2025

Commits on May 14, 2025

feat: Adding in the TUKF and the UKF
Talhanc
committed

Commits on May 18, 2025

fix: added tukf and simulation
Talhanc
committed

Commits on May 20, 2025

fix:added in some minor fixes
Talhanc
committed

Commits on May 30, 2025

added the cpp code
Talhanc
committed

Commits on Oct 5, 2025

Commits on Oct 19, 2025