S2024 estimation gnss

[enguang2]

• This pull request will add a new EKFStateEstimator class to state_estimation.py.

  • The estimator is based on an error state Kalman filter between GNSS and IMU readings from the Septentrio INS receiver.

• Key changes:

  • Main Logic: Implemented in ekf.py, modularized into propagate and measurement_update functions.
  • IMU Reading: gem_hardware.py is updated to obtain IMU readings.
  • Quaternion Functions: New quaternion-related functions have been added to transforms.py.

[sonarqubecloud]

Quality Gate passed

Issues
6 New issues
0 Accepted issues

Measures
0 Security Hotspots
No data about Coverage
0.0% Duplication on New Code

See analysis details on SonarCloud

[krishauser]

Could you please make the reference point a configuration setting?

[krishauser]

This seems to conflict with PR #75 . Whose solution is the one being adopted by the state estimation team?