04-fusion.tex

\begin{itemize}
\item Introduci come case study. cite the applications from the introduction (drones, small trackers for sport or animals..) and explain the commonalities (no interenet connection, lightweight and small battery, availability of other sensors..). To maximize battery duration different information sources with different effect on the battery and different quality can be merged. The most common one is perhaps GPS+IMU.
\item Spiega cosa vuol dire sensor fusion. Using IMU in short time scales and GPS in longer ones. So we do GPS sampling, but we want to guarantee availability of GPS and do it power efficiently.
\item Spiega con quali sensori fondi (anche caratteristiche tipo deve consumare meno batteria, altrimenti grazie al cavolo) IMU, which measures do we get from it, how much power it consumes. cite the book~\cite{bib:gps-imu}.
\item Spiega come lo fai (equazioni). rifrasa dal tast del corso AS1
\end{itemize}


It is now discussed an implementation of the presented model. We will use to discuss some of the different types of analysis that can be done with this abstarction an implementation of GPS-IMU sensor fusion. Sensor fusion is the technique of merging the measurements that come from different sensors. If well made, it enhances the advantages of the different sensors while compensating for the disadvantages.

Inertial measurement units (IMUs) are sensors that measure accelerations and angular velocities of the device. Such sensors are usually carachterized by relatively low power consumption \todo{find reference}, providing relative measurements and continuous availability.