ESKF原理介绍: 简单易懂(?)的误差状态卡尔曼滤波器(Error State Kalman Filter, ESKF)的原理与实现（一）原理简介
代码实现介绍: 简单易懂(?)的误差状态卡尔曼滤波器(Error State Kalman Filter, ESKF)的原理与实现（二）算法实现
在example文件夹中有一个简易的6轴IMU姿态融合demo。查看demo的Readme
项目依赖:
- Eigen3
- Ceres-Solver 2
- pybind11
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