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I have a 9-axis IMU (MPU9250) and a GPS module and I'm considering using other sensors later, but I would like to correct the slip and measurement difference that may have between them, in order to obtain a single, more reliable data.

I saw indications of using Kalman filter to correct IMU slippage, and I saw issues related to sensor fusion.

Is there any method, library (preference in C/C++) or reference on how to implement or a better way to implement sensor fusion in this context? I'm developing a data acquisition system to later control a drone.

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