EKF local and EKF global

Course Support Kalman Filters
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in picture:

Screenshot from 2021-10-15 08-27-19
Screenshot from 2021-10-15 08-27-19811×432 30.5 KB

I don’t understand what are EKF local and EKF global? Are they nodes or something else?

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Hello @nguyenphucvuongcdt ,

Yes, you can think of them as nodes. The EKF Global node filters the Odometry data from a Global Localization system such as GPS, while the EKF Local node filters the Odometry data from a Local system such as wheel encoders.