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HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
GNU General Public License v3.0
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Question about the "uura" in gnss_psr_dopp_factor.cpp #27

Closed bryantaoli closed 2 years ago

bryantaoli commented 2 years ago

3665c7fb8b41bd9d081fbbd3f6fdc76 What does "uura" stand for and why is it calculated like this？ Thank you.

shaozu commented 2 years ago

The uura has no special meaning and it is just a part of the information weight associated with this factor. The information weight itself is an empirical formula as we verified in a long-term static receiver experiment.

bryantaoli commented 2 years ago

image In your GVINS' paper, you said the clock jumps were avoided or carefully handled. But in your code, I cannot find anything about handling clock jump, could you please tell me how to avoid or handle clock jumps in GVINS, thank you so much！