PX4 EKF2 inquiry

  1. I wonder if there is a reference reserch paper that explains the system and measurement matrix formula of EKF2 (GPS/INS fusion) used in PX4.
  • In addition, have PX4 officials published any papers describing PX4’s EKF2 navigation?
  1. Likewise, I am curious about PX4’s VIO as follows.
  • If you select only the vision pose in EKF2_AID_MASK, do you use only externally generated ODOMETRY information?

  • Or, is PX4 performing a reconfusion with PX4’s built-in IMU?


May be it will be usefull.