[groundshop]

Can you guys give any insight into how you're combining the sensor data? I'm a newb on the topic, but I was trying to do something similar in a different domain and got stuck trying to make a kalman filter. I tried to get an EE friend to explain them to me, but I couldn't get it.

[navpatel]

Multiple fields actually invented Kalman filters independently and it turns out they are all actually the same thing, they just have widely varying derivations. My personal favourite explanation comes from the textbook: Probabilistic Robotics (2005) by Thrun, Burgard, and Fox.