IMU and GPS Fusion for Inertial Navigation

Hello,

does there exist a IMU and GPS fusion algorithm just with Acceleration and Gyroskop (without Magnetometer).

https://de.mathworks.com/help/fusion/examples/imu-and-gps-fusion-for-inertial-navigation.html

Thanks.

Answer 1

[Brian Fanous]

Roman

You can use either the insfilterMARG or the insfilterAsync without the Magnetometer. You will get drift in your orientation estimate because you are relying entirely on the gyroscope in this case. You may also get covariance growth in some of your magnetic field state estimates which you will have to account for in some way.

If you have something with a nonholonomic constraint, then insfilterNonholonomic would be a better choice.