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INemo Engine Lite

Question asked by yvraut.gerard on Jan 13, 2014
Hello,
In the iNemo Engine Lite Version 1.2.0 (FW V.2.3.0) when analizing the EKF Prediction state I came to the conclusion that the quaternion update is not using the same mathematical function defined by the pMat_Fsys that is passed to the iNemo_PropagateP.
If I am correct this does not seem to be a proper implementation of a Kalman filter. 
Thus I have a few questions:
1- Is the iNemo Engine Lite implemetation correct (and if not is there an update planned any time soon)?
2- More generaly speaking where can I find a description of the iNemo Engine providing  details on the actual implementation, e.g. including, among others, the description of the mathematical  model used in the iNemo Lite Engine Kalman filter design?

Thanks
Gerard

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