Velocity Estimation using IMU, GNSS and Wheel Speed Sensors

Hello, fellow Redditors. I have been trying to estimate a driverless car’s velocity using the Extended Kalman Filter. My current sensor setup is — 9-axis IMU (Gives linear acceleration and angular velocity in body frame), GPS (Gives linear velocity in NED frame) and 4 wheel encoders (Give linear velocity in body frame). The vehicle model is assumed to be a constant turn rate and acceleration (CTRA) model. However, the issue is that I’m stuck at how to convert NED frame measurements into the body frame and fuse them with encoder and IMU readings. Can you guys provide me with few resources/papers that can help me address this problem?

Sorry if this was a stupid question since this is my first time implementing an EKF for robotics.

Thank you.

submitted by /u/MISSIONCAP
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