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Kalman Filter: Asynchronous Sensor Fusion

Anyone know of a good tutorial on Fusing IMU and GPS data with a Kalman Filter?  I've been looking around, and all tutorials assume that the GPS and IMU measure at the same rate.  None explain how to take measureemnts from a 1Hz GPS reciever and fuse it with a 500Hz IMU board.

  About the Project: Initially, the project was a joystick for a human powered submarine. Because of the nature of the submarine, a small battery had to power both … Read more