GPS/INS (Global Position Systems / Inertial Navigation Systems) are used for a variety of applications (UAVs, robots, or even your more aggressive propulsive devices) which basically tell you where you are and how you are oriented (i.e. 3-dimensional position, velocity, and attitude). Anyone who’s taken a graduate course in estimation or filtering has probably written a version of a Kalman filter for GPS/INS applications. But I’ve never actually made one, so I decided to put together a few COTS components into the following:

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