PX4 EKF2 inquiry

[kh-0306]

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?

2. 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?

[Artem_Borisov]

@kh-0306

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

Yes.

@kh-0306

In addition, have PX4 officials published any papers describing PX4’s EKF2 navigation?

https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html

@kh-0306

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.

May be it will be usefull.