Common Filter: How to Improve Your IMU Readings

Common filter is a structure, a framework to allow you to take those known things in advance and add them to the construction of the filter. So if you sort of say, Hey, I have a certain kind of distribution that my GPS error gives me the variance of that signal. How do I update where I think my position is using that number? And how much is that different from where I thought I was going to be refined my internal state a bit so that over time, I'm adapting to this.

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