TIGHTLY COUPLED END-TO-END MULTI-SENSOR FUSION WITH INTEGRATED COMPENSATION

Systems and methods for a tightly coupled end-to-end multi-sensor fusion with integrated compensation are described herein. For example, a system includes an inertial measurement unit that produces inertial measurements. Additionally, the system includes additional sensors that produce additional measurements. Further, the system includes one or more memory units. Moreover, the system includes one or more processors configured to receive the inertial measurements and the additional measurements. Additionally, the one or more processors are configured to compensate the inertial measurements with a compensation model stored on the one or more memory units. Also, the one or more processors are configured to fuse the inertial measurements with the additional measurements using a differential filter that applies filter coefficients stored on the one or more memory units. Further, the compensation model and the filter coefficients are stored on the one or more memory units as produced by execution of a machine learning algorithm.