sensor fusion start

matlab/GPSaidedINS.m

@@ -81,7 +81,7 @@ for k=2:N
     sv=5;
     %control action
     a=[a,sum(sqrt(out_data.diag_P(1:3,k-1)))];
-    if sum(sqrt(out_data.diag_P(1:3,k-1)))<15.0
+    if sum(sqrt(out_data.diag_P(1:3,k-1)))<20.0
         turn=false;
     else
         turn=true;

paper/main.bib

@@ -292,7 +292,7 @@ month={Sept},}
 }
 
 %libro su GPS+inertial navigation
-@book{Grewal:2007:GPS:1237963,
+@book{bib:gps-imu,
  author = {Grewal, Mohinder S. and Weill, Lawrence R. and Andrews, Angus P.},
  title = {Global Positioning Systems, Inertial Navigation, and Integration},
  year = {2007},

paper/sections/04-fusion.tex

@@ -5,3 +5,9 @@
 \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.
+
+