818 B
818 B
Sensors
GPS: Accuracy: 3-5m, @2Hz
Indoor: 1mm @ 200-500 Hz
Research
https://vision.in.tum.de/publications
Geometry
Invert, concatenate, estimate, optimize 3D orientation
Algorithms
IMU Strapdown Algorithm
Control Theory
Watch out: The inner control loops must be around an order of magnitude faster than the outer ones, such that they appear "static". If not you can get interference between the two