It would be beneficial to refactor the predict and update functions in the navigation filters (UKF, Particle Filter) into a common trait. This would allow for easier extension and maintenance of the codebase, as well as enabling polymorphism for different filter implementations.
Common traits across navigation filters:
- Predict Function: A method to propagate the state based on IMU data and time step.
- Update Function: A method to update the state based on measurements.
- Initialization: A method to initialize the filter from an initial estimate and certainty.
- State Retrieval: A method to retrieve the current state estimate and certainty.
It would be beneficial to refactor the predict and update functions in the navigation filters (UKF, Particle Filter) into a common trait. This would allow for easier extension and maintenance of the codebase, as well as enabling polymorphism for different filter implementations.
Common traits across navigation filters: