How you might build an IMU + GPS fusion algorithm suitable for unmanned aerial vehicles (UAVs) or quadcopters.

Estimate the pose (position and orientation) of a ground vehicle using an inertial measurement unit (IMU) and a monocular camera. In this example, you:

MATLAB Mobile™ reports sensor data from the accelerometer, gyroscope, and magnetometer on Apple or Android mobile devices. Raw data from each sensor or fused orientation data can be obtained. This examples shows how to compare the fused orientation data from the phone with the orientation estimate from the ahrsfilter object.

Estimate the position and orientation of ground vehicles by fusing data from an inertial measurement unit (IMU) and a global positioning system (GPS) receiver.

Combine robot odometry data and observed fiducial markers called AprilTags to better estimate the robot trajectory and the landmark positions in the environment.

Reduce the drift in the estimated trajectory (location and orientation) of a monocular camera using 3-D pose graph optimization. Visual odometry estimates the current global pose of the camera (current frame). Because of poor matching or errors in 3-D point triangulation, robot trajectories often tends to drift from the ground truth. Loop closure detection and pose graph optimization reduce this drift and correct for errors.