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Time interval for Sensor data processing

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htekin42

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Hi everybody,

I am trying to implement an adaptive kalman filter for 2 gyro and gnss data. sensors output is 20Hz and gnss output is 10Hz. For kalman filter calculation, there is time interval value at transition matrix. I am confused about declearing delta time value. Should I decleare value as 1000/20= 50ms or time between reading?
Thanks
 

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