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Initial IMU EKF project

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# AGENTS.md
## IMU CSV Notes
1. Each CSV header records the IMU configuration used when collecting the data. The `odr` field and related IMU configuration fields are important.
2. For row-level data analysis, only use these columns: `sensor_uptime_s`, `temp_c`, `acc_x_g`, `acc_y_g`, `acc_z_g`, `gyro_x_dps`, `gyro_y_dps`, and `gyro_z_dps`.
## Column Meanings
- `sensor_uptime_s`: data arrival time in seconds.
- `temp_c`: IMU temperature, in degrees Celsius.
- `acc_x_g`, `acc_y_g`, `acc_z_g`: IMU acceleration on the x, y, and z axes, in `g`.
- `gyro_x_dps`, `gyro_y_dps`, `gyro_z_dps`: IMU angular offset/rate on the x, y, and z axes, in degrees per second. These values are not radians.
Unit conversion is required for practical use.