This project forked from zm0612/eskf-gps-imu-fusion
使用误差状态卡尔曼滤波器融合GPS和IMU，实现更高精度的定位
ESKF融合IMU与GPS数据
实现方法请参考我的博客《【附源码+代码注释】误差状态卡尔曼滤波(error-state Kalman Filter)实现GPS+IMU融合，EKF ESKF GPS+IMU》
Eigen
sudo apt-get install libeigen3-devYaml
sudo apt-get install libyaml-cpp-devcd eskf-gps-imu-fusion
mkdir build
cd build
cmake ..
make cd eskf-gps-imu-fusion/build
./gps_imu_fusion执行完./gps_imu_fusion会生成轨迹文件
cd eskf-gps-imu-fusion/data
evo_traj kitti fused.txt gt.txt measured.txt -p需要安装evo，可以参考我的博客中的介绍
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