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cggos / imu_x_fusion

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP
https://msf.cgabc.xyz/
GNU General Public License v3.0
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It seems that GPS and IMU are not aligned in ESKF #53

Open cheerss opened 1 year ago

cheerss commented 1 year ago

Thanks for you great work first, though I may find some potential problems. For the ESKF algorithm for GPS+IMU:

GPS uses the ENU frame, whose z-axis is aligned with gravity. While IMU only aligns with gravity (z-axis). Is it ok that the x- and y-axis are not aligned with ENU?

I run the code and yield good results, so i am not sure if I miss something important. Hope for your reply.

Many thanks again~