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kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2026-03-11
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
kalman_filter_localization_core 0.0.0
kalman_filter_localization 0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

  • /initial_pose (geometry_msgs/PoseStamped)
  • /gnss_pose (geometry_msgs/PoseStamped)
  • /imu (sensor_msgs/Imu)
  • /odom (nav_msgs/Odometry)
  • /tf (/base_link -> /imu_link)

Output:

  • /current_pose (geometry_msgs/PoseStamped)

Params

Name Type Default value Description
pub_period int 10 Publish period [ms]
var_gnss_xy double 0.1 GNSS position variance in XY [m^2]
var_gnss_z double 0.15 GNSS position variance in Z [m^2]
var_odom_xyz double 0.1 Odometry variance [m^2]
var_imu_w double 0.01 Angular velocity variance [(deg/sec)^2]
var_imu_acc double 0.01 Accelerometer variance [(m/sec^2)^2]
use_gnss bool true Whether GNSS is used
use_odom bool false Whether odometry is used

References

  • K Feng, “A New Quaternion-Based Kalman Filter”, 2017
  • Joan Sola, “Quaternion kinematics for the error-state Kalman filter”, 2017
  • Daniel Choukroun et al, “A Novel Quaternion Kalman Filter”, 2006
  • “An Improved EKF - The Error State Extended Kalman Filter”
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer, “Robust Localization and Localizability Estimation with a Rotating Laser Scanner”, 2017

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).