ethzasl_msf(multi-sensor fusion)传感器融合定位算法解析

瑞士苏黎世大学Stephen Weiss对基于EFK松耦合传感器融合定位研究非常深入，以下是他的相关论文和开源代码，可以详细阅读，最后附上了本人阅读的相关博客。

1.论文

[1] Vision Based Navigation for Micro Helicopters, 2012
[2] A Robust and Modular Multi-Sensor Fusion Approach Applied to MAV Navigation, 2013
[3] Real-time Onboard Visual-Inertial State Estimation and Self-Calibration of MAVs in Unknown Environments, 2013
阅读以上文献需要的ESKF相关基础知识
[4] Quaternion kinematics for the error-state Kalman filter

2.源代码链接

[1] MSF(Multi-Sensor Fusion) https://github.com/ethz-asl/ethzasl_msf
[2] SSF(Single-Sensor Fusion) https://github.com/ethz-asl/ethzasl_sensor_fusion

另外，Zida Wu等人根据ethzasl_msf进行二次开发，实现了 IMU, SLAM (ORB_SLAM2) and GNSS (or GPS)的融合定位，对于后续拓展具有很强参考意义：
[3] MSF_developed https://github.com/milkytipo/MSF_