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special for msckf and ekf tutoials use this library
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如图:只更新state->G_p_I,不更新state->acc_bias和state->gyro_bias是否可以呢?
![image](https://user-images.githubusercontent.com/84693413/189825053-eddc4d33-c805-4e9a-9b56-cd82a3dc43b8.png)
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## P54
- `许多固态雷达(大疆 Livox 系列、Ouster OS2)、单目、双目相机(Zed 2, MYNT Eye S)都已经提供内置 IMU 作为惯性导航的数据源`这一句里,我查了一下单目相机配IMU的不是很常见,实际上我没有找到任何一款常见的商业产品是单目+IMU,大部分是双目+IMU
- 双目+IMU,建议补上比较常用的realsense系列
- 所以建议改成`许多固态雷…
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hi @sleutenegger , seems the imu propagation model is not the same with the paper?
in function `ImuError::propagation`
```
// Fd = I + Fc*dt
Eigen::Matrix F_delta = Eigen::Matrix::Iden…
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I'd like to introduce capabilities similar to the Windows counterpart of this project:
https://github.com/MSmithDev/AirAPI_Windows
Which defined 2 API functions:
```
float* GetQuaternion()
…
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Hi, @wh200720041
Thanks for your great work.
I have a question about the derivation of jacobian formula in imuOptimizationFactor.cpp.
The residual function is:
`
// residual 1 = l…
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Nice project!
I would like to know dows gnss velocity updates state attitude?
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@Horizon1026 Thanks for your great works!
Compared with msckf vio, the advantages of eskf vio?
Have you compared the accuracy and speed of these two algorithms?
thanks!
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I am getting a segmentation fault when running clang-tidy-16 (v 16.0.6) inside of my Debian 11 dev container. My architecture is aarch64. I am compiling using CMake (3.18.4) and GCC (10.2.1), and hav…
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NicoChou 您好!
EKF_AHRS.m文件中的113-115行,磁力计模型的量测矩阵时参考哪个文献得到的呀,怎么跟我查到的不大一样,期望得到您的回复。