Filtering of IMU data using Kalman filter

Inertial Measurement Unit (IMU) is a component of the Inertial Navigation System (INS), a navigation device used to calculate the position, velocity and orientation of a moving object without external references. This project develops a method for removing the bias from the accelerometer measurement and estimate the distance travelled and the velocity of a moving object. Estimation is done using the predict and update stages of the Kalman filter, a recursive filter that uses state space techniques. Simulation of the distance and velocity estimation is performed. Multiple accelerometer data with different sampling frequencies are used for analyzing the bias factors.