I would like to implement Kalman filter scheme with two different kind of sensors - say 9DOF IMU (gyro/accelerometer/magnetometer) and GPS sensor (position/velocity/altitude).
Problem is, as i understand, classic Kalman and Extended Kalman filter schemes require sensor measurements to be synchronized. But GPS sensor measurements could be obtained ones/two times a second, as opposed to gyro/accelerometer/magnetometer measurements which available 100 times a second.
So my question, how to fuse sensors with different sampling rates together?