# kalman_filter_localization

**Repository Path**: hyyrobot/kalman_filter_localization

## Basic Information

- **Project Name**: kalman_filter_localization
- **Description**: A ROS2 package of Kalman Filter Based Localization in 3D using GNSS/IMU/Odometry(VO/LO)
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-02-19
- **Last Updated**: 2025-12-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Kalman Filter Localization  
![CI](https://github.com/rsasaki0109/kalman_filter_localization/workflows/CI/badge.svg)  
Kalman Filter Localization  is a ros2 package of Kalman Filter Based Localization in 3D using GNSS/IMU/Odometry(Visual Odometry/Lidar Odometry).

## node
ekf_localization_node
- input  
/initial_pose (geometry_msgs/PoseStamed)   
/gnss_pose  (geometry_msgs/PoseStamed)   
/imu  (sensor_msgs/Imu)  
/odom (nav_msgs/Odometry)  
/tf(/base_link(robot frame) → /imu_link(imu frame))  
- output  
/curent_pose (geometry_msgs/PoseStamped)

## params

|Name|Type|Default value|Description|
|---|---|---|---|
|pub_period|int|10|publish period[ms]|
|var_gnss_xy|double|0.1|variance of a gnss receiver about position xy[m^2]|
|var_gnss_z|double|0.15|variance of a gnss receiver about position z[m^2]|
|var_odom_xyz|double|0.1|variance of an odometry[m^2]|
|var_imu_w|double|0.01|variance of an angular velocity sensor[(deg/sec)^2]|
|var_imu_acc|double|0.01|variance of an accelerometer[(m/sec^2)^2]|
|use_gnss|bool|true|whether gnss is used or not |
|use_odom|bool|false|whether odom(lo/vo) is used or not |

## demo

[rosbag demo data(ROS1)](https://drive.google.com/file/d/1CYuip5dApvcF-xrB2f5s8pdBu7MGCDxP/view)

```
rviz2 -d src/kalman_filter_localization/config/ekfl_demo.rviz
```

```
ros2 launch kalman_filter_localization ekf.launch.py
```

```
ros2 topic pub ekf_localization/initial_pose geometry_msgs/PoseStamped '{header: {stamp: {sec: 1532228824, nanosec: 55000000}, frame_id: "map"}, pose: {position: {x: 0, y: 0, z: 10}, orientation: {z: 1, w: 0}}}' --once
```

```
ros2 bag play -s rosbag_v2 test.bag
```


![demo](./images/demo_ekfl.gif)    
blue:initial pose, red:gnss pose, green: fusion pose