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Shelfcol / gps_imu_fusion

gps_imu_fusion with eskf,ekf,ukf,etc
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您好,您原来标注的疑问,同样存疑,您有新结论么? #5

Open TheSeanParker opened 1 year ago

TheSeanParker commented 1 year ago

疑问同您下面注释部分 https://github.com/Shelfcol/gps_imu_fusion/blob/main/src/gps_flow.cpp#L21 本来GPS输入的原始数据的方向是NED,但是经过了下面的坐标系变换,从NED->ENU https://github.com/Shelfcol/gps_imu_fusion/blob/main/src/gps_flow.cpp#L198 那么问题是,为什么下面的函数还是叫做LLA2NED?应该叫做LLA2ENU才对呀?,以上 https://github.com/Shelfcol/gps_imu_fusion/blob/main/src/gps_flow.cpp#L200