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Thanks for your sharing ! I want to ask why do you fuse wheel odometry by position rather than by linear velocity and angular velocity ?Should these be better observation for eskf ?
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Hello
Thank you so much for sharing this package. When I want to run this package on Ubuntu 18.05 and melodic ROS, I have faced this Error "[ ESKF ] Bad GNSS data.". I change the frequency of GNSS fr…
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Dear NicoChou.
Thank you for the great matlab code for EKF_AHRS.
I have been studying EKF_ARHS, and found your code.
https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/master/EKF_AHRS.m
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eskf.cpp(当前主分支150行),计算R_nm_nm_1时,用angle_axisd对应的旋转矩阵的transpose,210行在使用R_nm_nm_1时,又transpose了一下,这是误操作?还是姿态解算方程使然?
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NicoChou您好
您在误差重置过程中将误差置为零,
https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/df1152ab425aa22d4801c849742b86e3deeb6ec6/ESKF_AHRS.m#L59-L60
那
https://github.com/NicoChou/ESKF-Attitude-Est…
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https://github1s.com/gaoxiang12/slam_in_autonomous_driving/blob/master/src/ch3/eskf.hpp#L270-L271
这一段代码应该为:
```
double velo_l = options_.wheel_radius_ * odom.left_pulse_ * 2 * M_PI / options…
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Excuse me, it seemed that the output of the eskf_odm topic is not correct because the value is very large, and thus can not be visualized on rviz. I wonder why is that and how to solve this problem, …
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能否给出eskf和eskf_qk的结果对比或者指标对比,哪个更好一点?
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首先在eskf.cpp中updateOdomEstimate中,是由于Eigen库中的数据的截断误差,导致 在eskf.cpp中的R_nm_nm_1不完全正交,在这里我做了较多的尝试,使用svd分解等方法都不能得到一个较好的结果,因此我直接使用了inverse(),虽然运算速度上有损失,但是毕竟效果会更好一点。
第二个部分是eskf.cpp中关于角速度更新的部分,在ComputerNavigat…