# Estima
`estima` is a Rust crate for state estimation providing Square Root Unscented Kalman Filter
with manifolds.
## Constant Velocity Model
Example could be run with:
```bash
cd estima && cargo run --example cv_ukf
```
### Rerun Visualization
If you have [rerun](https://rerun.io/) installed you could run:
```bash
cargo run --example cv_ukf --features rerun
```
## Attitude and Heading Reference System
Example could be run with:
```bash
cd estima && cargo run --example ahrs_ukf
```
### Rerun Visualization
If you have [rerun](https://rerun.io/) installed you could run:
```bash
cargo run --example ahrs_ukf --features rerun
```