INS_Project

INS project using ETH Zurich Micro Aerial Data

First plot: 3D Trajectories of Each Estimation and Ground Truth

This plot is wrong because it cannot plot other trajectory estimations than pure mechanization eqn solution and ground truth plotting is wrong.

This plot should be fix!!

Second plot: Horizontal Trajectory Comparison

This plot is also faulty because it cannot plot other trajectory estimations and ground truth than pure mechanization eqn

This plot should be fix!!

Third plot: EKF & UKF Position

EKF and UKF solutions is not in ±3σ boundries for east and north. This should be fixed.

This plot should be fix!!

Fourth plot: EKF & UKF Velocity

EKF and UKF solutions is in the ±3σ boundries and seems logical.

Fifth plot: EKF & UKF & Mechanization Comparison

I don't know if it is correct or not. But I think UKF solution should be more accurate than EKF. In this plot EKF solution is more accurate. So it should be checked.

Sixth plot: Mechanization Error

This error graph seem correct.

Seventh plot: Loosely vs Tightly Coupled for EKF

Graphs seems incorrect and hroizontal trajectory plot cannot plot gorund truth and Loosely Coupled EKF.

Eigth plot: Accel Bias Estimation

I estimated biases like this. I didn't check if they are shared model of accel and gyros.

Ninth plot: EKF & UKF NIS Comparison

Normalized Innovation Squared plots.