graph TB ade583969286975c[" "] d6d10a5e2ee6236c["**EKF**"] 6f33b7a2ad42ef4a["Complementary filter"] 3a010b5470b5e4ef["Yaw angle estimate"] 48d3c430a3299605["Forward, right acceleration estimate"] 684a6ce2fb2e3128["GPS North, East velocity measurements"] 284f886799137c0a["IMU measurements"] 8f85cc09bc7468a5["State estimates (North velocity, East velocity, yaw)"] ffae8e29ee0e196d["Gaussian Sum Filter (GSF)"] 6b5ca7df91661947["Yaw estimate"] 5c87023a9fbb4956["Weights for EKFs"] f3564213c51371a9["Normalized North, East GPS velocity innovation"] 37f8647a58f605b5["[Source](https://px4.io/wp-content/uploads/2020/07/Paul-Riseborough-PX4-state-estimation-update.pdf)"] 284f886799137c0a --> 6f33b7a2ad42ef4a 6f33b7a2ad42ef4a --> 3a010b5470b5e4ef 6f33b7a2ad42ef4a --> 48d3c430a3299605 d6d10a5e2ee6236c --> 8f85cc09bc7468a5 ffae8e29ee0e196d --> 6b5ca7df91661947 48d3c430a3299605 --> d6d10a5e2ee6236c 3a010b5470b5e4ef --> d6d10a5e2ee6236c 684a6ce2fb2e3128 --> d6d10a5e2ee6236c d6d10a5e2ee6236c --> |Yaw correction| 6f33b7a2ad42ef4a 8f85cc09bc7468a5 --> ffae8e29ee0e196d d6d10a5e2ee6236c --> f3564213c51371a9 f3564213c51371a9 --> 5c87023a9fbb4956 5c87023a9fbb4956 --> ffae8e29ee0e196d %% Node links click 284f886799137c0a href "/knowledge/Inertial-measurement-unit-(IMU)" "Inertial measurement unit (IMU)"