Is there any Kalman Filter on GPS x and y data?

1

Hi Guys

I want to know that, Is there any Kalman filter on GPS x and y data?
Because I want to implement a smooth data tracking of GPS coordinates for /tf for mapping using LiDAR.
Occasionally I found that there is the enormous drift in GPS position data. So is there any way to make it smooth?

2

Hi,

Could you be more specific, what data are you talking about, what firmware are you using?
If you are running latest release of PX4 and is looking into a ulg file the vehicle_global_position field is the output of a Kalman filter and vehicle_gps_position is the raw sensor data.

3

Also the position is filtered by a EKF filter. Either LPE or EKF2.

Note that the GPS precision (not geostationary and not RTK) is 15m precise. If it is drifting and not jumping, it is filtered.