$$ \huge \displaystyle \hat{\boldsymbol{\mu}}_{x,k+1} = \check{\boldsymbol{\mu}}_{x,k+1} + \mathbf{K}_{k+1} \mathbf{z}_{k+1} \\ \hat{\boldsymbol{\Sigma}}_{xx, k+1} = ( \mathbf{I}-\mathbf{K}_{k+1} \mathbf{C}_k+1) \check{\boldsymbol{\Sigma}}_{xx, k+1} $$

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Drone state estimators @ LSY. Contains model free (smoothing) and model based (EKF, UKF) state estimators for drones.

Installation

Clone repository:

git clone git@github.com:utiasDSL/drone-estimators.git

If you already have an environment to install the estimators in, use:

pip install -e .

Otherwise, you can first start a pixi environment and then install the package with

pixi shell -e jazzy

pip install -e .

Usage

Either use the estimators directly:

from drone_estimators.estimator import KalmanFilter

or run the ROS2 node with:

python drone_estimators/ros_nodes/ros2_node.py

For the latter, you need to add all drones you want to estimate to the estimators.toml file, or create your own file and call

python drone_estimators/ros_nodes/ros2_node.py --settings <your_estimators.toml>