zupt

An embedded IMU sensing pipeline for FRC robotics integrating ESP32-based sensor fusion with RoboRIO via SPI, employing Kalman filtering, OLS drift estimation, ZUPT stabilization, and adaptive temperature compensation to achieve robust, low-drift orientation tracking in high-noise environments.

Header-only C++17/Eigen 15-state EKF for tightly-coupled UWB/IMU indoor positioning: ZUPT, magnetometer heading, height constraints, Joseph-form covariance updates.

GPS-less indoor navigation system using foot-mounted IMUs, ESP32 modules, ZUPT-based dead reckoning, and campus map visualization for emergency and low-connectivity environments.