Hello,
I am trying to create a filter that can integrate inertial measurements with GPS measurements. My inertial sensors are a yaw axis gyro, an odometer, and possibly a 3axis accelerometer.
Could you please help me with some guidance? I have read papers, articles and books on the subject but I am still a little confused.
I consider the acceleration constant, so I have a state vector x=[E N vE vN aE aN] transposed, while the measurement vector z is [EGPS NGPS EDR NDR aE aN]
Does it make any sense so far?
My problem is that I don't know, for this system how can I determine the process noise covariance and measurement noise covariance.
Can you give me some indications in that direction?
Thank you very much.
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