Unscented Kalman Filter

Here, I made an Unscented Kalman Filter to estimate the position and orientation estimation of a quadrotor drone. Orientation was tracked through quaternions, making the algorithm implementation trickier. I followed this paper.

I started with sensor calibration, making the Kalman Filter framework, and gradient descent-based mean quaternion calculation estimation.  Here are the results:  

You can find the code here.