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it is not easy for foreigners to read csdn blog post (https://blog.csdn.net/u011341856/article/details/114262451).
it is good to include a PDF version of blog in repo
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您好,我从RTK上获取到相应的GPS数据和IMU加速度和角速度信息,RTK数据为真值,由此创建相应的文件信息。但是仿真结果不容乐观,请问该怎么修改呢?RKT [IMU的X轴朝车辆右方,Y轴朝车辆前方,Z轴朝上,输入时已经做了坐标转换。
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第四章代码test_preintegration 运行到IMUPreintegration::Integrate(const IMU &imu, double dt)的
// 更新噪声项
cov_ = A * cov_ * A.transpose() + B * noise_gyro_acce_ * B.transpose();
出现如下错误:
Program received si…
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有一个疑惑我困扰了很久,
就是在lio部分状态量的增量是solution = K * meas_vec + vec - K * Hsub * vec.block(0, 0)(1)
(即dx = K * H^T *(-Z) - (I-G)(state_cur-state_last)),
但是论文fast-lio公式(18)(或fast-lio2公式(14))和代码似乎是正负号相反的,
如果按…
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这里:https://github.com/zm0612/eskf-gps-imu-fusion/blob/main/src/eskf.cpp#L194
`
constexpr double rm = 6353346.18315;
constexpr double rn = 6384140.52699;
Eigen::Vector3d w_en_n(-…
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如题。
另外,对于普通双频GPS模块,非差分类型,适合做eskf吗? 普通双频GPS的定位精度相对于来说比较差一些,开放天空1.x米的定位精度水平。
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ObserveWheelSpeed中,观测方程v_odom = h(x) = R_-1 * v_ 为什么在计算H矩阵的时候不考虑对R_求导呢?
是因为这里轮速观测用当前R_进行转换作为一个等效观测嘛?
两种写法会有区别么?
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Hello @ziv-lin, thank you for you nice work! I have some problem about stability of the i-eskf. I tried you new kalman gain calculation method on other fusion framework, but has numeric problems. I no…
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您的介绍里面说GPS的经纬高是NED坐标系是什么意思?ECEF坐标系,就是经纬高讶?
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Hi, thank you for your great work!
I have some problems about i-eskf numeric stability. I tried your formula of Kalman gain to speed up calculation on visual related task, but it is not stable, I won…