I know this probably asked many times but i am struggling integrating dme/dme based positioning outputs (gives lat & lon) with very accurate irs outputs (using roll pitch yaw, acceleration x y z gives north/east velocities and heading).I need to choose my actual states and prediction appropriately, i just need to get horizontal location (lat and lon). Not sure just velocities, heading and dme position updates will be enough or not. For altitude i will use barometric sensor. So can anyone help me to build that model by defining minimum state and prediction vector sets and A B H R Q matrices. Thanks.
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