Is there any option to account for lever arm between sensors using insEKF

I am using the insEKF class to fuse IMU and GNSS data in order to estimate a vehicle position. I have multiple antennas and would like to be able to account for the distance between the antennas and my IMU. Is there any built in option to use or does anyone have any idea on how to do so without messing up with my Kalman filter.

Answer 1

[Brian Fanous]

First, I'd suggest trying the insEKF without handling the lever arm and see if the performance is adequate.

If that doesn't work, you can build a custom sensor plugin for the insEKF to handle sensors at a lever arm. There are several examples of custom sensor plugins for the insEKF. Here's a good one to start with : https://www.mathworks.com/help/fusion/ug/design-fusion-filter-for-custom-sensors.html