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Draft: Add of Zero Velocity Kalman algorithm

Open Alessandro Cartocci requested to merge ZVK-dev into main

Implementation of the Zero Velocity Kalman for estimation of gyroscope and accelerometer biases. The algorithm is called by the function run_ZVK inside std_run work in progress:

  • [new version update]
  • [add the second imu correction]
  • [update plots]

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