Hello,
I am able to get real-time lat, long data from a GNSS receiver and I have converted them to cartesian coordinate starting from (0, 0) for my mobile robot localization in a small area. Now I am trying to fuse with the Positional Tracking from my ZED 2i (Translation and Orientation) to achieve an more accurate localization. I know EKF must be used, but I am really confused how to go about with this problem. I am doing it in python and without the use of IMU.