Welcome to Error State MEKF's documentation!
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This package implements an error state multiplicative extended Kalman filter (MEKF) for spacecraft attitude and gyro bias estimation.

.. toctree::
   :maxdepth: 2
   :caption: Contents:

   installation
   usage
   api_reference
   theory

Indices and tables
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* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`