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GPS_Milemeter_IMU_EKFLocation

采用gps、里程计和电子罗盘作为定位传感器,EKF作为多传感器的融合算法,最终输出目标的滤波位置。 本文采用的方法是利用iphone手机上的GPS来获取载体的经纬度,利用电子罗盘获取到航向角,通过加速度计积分得到位移(加速度的功能替代来里程计),再通过EKF融合得到最终的位置。

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