Inertial Navigation & EKF Fusion

Simulate quadratic dead reckoning error drift, tune Extended Kalman Filter sensor fusion, and inspect ZUPT updates.

Accelerometer Bias: 0.05 m/s²

IMU Noise Density: 0.020

GPS Aiding Update Interval: 2s

Enable ZUPT Stance Corrections

True Kinematic Trajectory

Uncorrected DR (Drift: 19.5m)

EKF Fused Output (Error: 0.7m)