MARID Error-State Extended Kalman Filter GPS-Denied Sensor Fusion — Design Document Table of Contents Motivation State Vectors Process Model Process Jacobian F Process Noise Q Measurement Models H Update Step Mechanics Full ESKF Cycle Implementation Notes 1. Motivation This post provides a control-focused overview of the MARID UAV, following the earlier DARPA-related concept published on this blog. It outlines the control architecture and the design approach adopted for its implementation. All relevant nodes and supporting code are available here: https://github.com/MChalak1/MARID_UAV NOTE: **The ESKF is still still being refined as of the date of this post and it is yet to be implemented** marid_odom_pub.py node fuses ten sensor sources via hand-tuned scalar complementary filters: $$z_\text{fused} = w \cdot z_\text{sensor} + (1-w) \cdot z_\tex...
