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Complementary filter for positioning

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ANS HAFEEZ

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Hi,

For robot localization i am using indoor positioning system which gives me (x,y) and also encoders data to calculate its odometry and through mathematical model also get (x,y) from encoders reading. both sources have some error in reading. So, I need to fuse both (x,y) and i am thinking to use complementary filter. I have seen many filters to fuse gyro and accelerometer data.
does any body have good idea how to implement it in my case.
 

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