Section II-A describes the configuration of the sensors on
”MadeInGermany“ (MIG, see Figure 1) and the parameters of
the sensors that are most important for the application. The
fusion architecture is presented in Section II-B. Special focus
lies on the treatment of the Out-Of-Sequence Measurement
problem, that arises when combining data of unsynchronized
sensors. Section II-C describes how we use one common
movement model for state estimation. Experimental results are
shown in Section V as part of our overall test scenario.