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Sensor Fusion Lab Composed

Combine noisy GPS, IMU (accelerometer + gyroscope), and magnetometer data using Extended Kalman Filter to get accurate position and heading

GPS (noisy) IMU (drift) Fused (EKF) True position Trail

Sensor Noise

EKF Tuning

Extended Kalman Filter fuses multiple noisy sensors into one accurate estimate.

GPS: accurate but low-rate & noisy
IMU: fast but drifts over time
Magnetometer: heading reference

EKF predicts with IMU, corrects with GPS, uses mag for heading.
GPS error: --px
IMU error: --px
Fused error: --px
Improvement: --x