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chichengcn / gici-open

GNSS/INS/Camera Integrated Navigation Library
GNU General Public License v3.0
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运行时星历缺失 #12

Closed ZiaoLiuS closed 7 months ago

ZiaoLiuS commented 9 months ago

感谢作者您的开源，我在使用您的开源数据集1.1和1.2运行代码的过程中，程序一直显示等待星历。请问您是否遇到过此类问题。

ZiaoLiuS commented 9 months ago

I20230919 23:08:00.352419 10806 data_integration.cpp:301] Waiting for ephemeris. We still have 35 satellites that do not have ephemeris. Total number of satellite is 44 I20230919 23:08:00.453202 10806 data_integration.cpp:301] Waiting for ephemeris. We still have 35 satellites that do not have ephemeris. Total number of satellite is 44 I20230919 23:08:00.551285 10806 data_integration.cpp:301] Waiting for ephemeris. We still have 35 satellites that do not have ephemeris. Total number of satellite is 44 I20230919 23:08:00.655683 10806 data_integration.cpp:301] Waiting for ephemeris. We still have 35 satellites that do not have ephemeris. Total number of satellite is 44

chichengcn commented 9 months ago

请参考 https://github.com/chichengcn/gici-open-dataset/issues/4

ZiaoLiuS commented 9 months ago

可以了，谢谢！

Ganglee98 commented 9 months ago

已经注意到把开始时间改成对应的时间。结果还是有等待星历的情况，请问还有哪里需要修改吗？data1.1时间不就是2023.3.20嘛

147longlong commented 9 months ago

你好，data1.1的start_time就是2023.03.20。直观看来，您的配置文件没有问题，请核对以下几点：

1.以上内容中未含estimate，请在实际yaml中涵盖estimate。 2.确定是否出现的是星历等待问题？还是卫星数目不足问题？如果是后者，请确保gnss_ssr.bin在文件夹实际存在。 3.data2.1与1.1的start_time相同，可以将数据集替换成2.1再尝试。 4.如果以上都没有问题，请上传完整的yaml文件

Ganglee98 commented 9 months ago

你好，data1.1的start_time就是2023.03.20。直观看来，您的配置文件没有问题，请核对以下几点：

1.以上内容中未含estimate，请在实际yaml中涵盖estimate。 2.确定是否出现的是星历等待问题？还是卫星数目不足问题？如果是后者，请确保gnss_ssr.bin在文件夹实际存在。 3.data2.1与1.1的start_time相同，可以将数据集替换成2.1再尝试。 4.如果以上都没有问题，请上传完整的yaml文件

Thanks a lot. I use the datasets 4.1 which has the ssr data and then it works. However, it still exists the following questions:

F20230923 17:37:30.726711 22140 marginalization_error.cpp:606] Check failed: it != parameter_block_id_to_parameter_block_infoidx.end() trying to marginalize out unconnected parameter block id = 3534327355540504576 Check failure stack trace: @ 0x7fa892a4d160 google::LogMessage::Fail() @ 0x7fa892a4d0a1 google::LogMessage::SendToLog() @ 0x7fa892a4c8be google::LogMessage::Flush() @ 0x7fa892a50564 google::LogMessageFatal::~LogMessageFatal() @ 0x7fa892ef79b1 gici::MarginalizationError::marginalizeOut() @ 0x7fa892eb7666 gici::EstimatorBase::applyMarginalization() @ 0x7fa892dfc02c gici::PppEstimator::marginalization() @ 0x7fa892dfdfbf gici::PppEstimator::estimate() @ 0x7fa892f550df gici::MultiSensorEstimating::processEstimator() @ 0x7fa892f5591e gici::MultiSensorEstimating::runBackend() @ 0x7fa892923df4 (unknown) @ 0x7fa892aeb609 start_thread @ 0x7fa89275d133 clone @ (nil) (unknown) Aborted (core dumped)

Thank you again.

147longlong commented 9 months ago

你好，data1.1的start_time就是2023.03.20。直观看来，您的配置文件没有问题，请核对以下几点： 1.以上内容中未含estimate，请在实际yaml中涵盖estimate。 2.确定是否出现的是星历等待问题？还是卫星数目不足问题？如果是后者，请确保gnss_ssr.bin在文件夹实际存在。 3.data2.1与1.1的start_time相同，可以将数据集替换成2.1再尝试。 4.如果以上都没有问题，请上传完整的yaml文件

Thanks a lot. I use the datasets 4.1 which has the ssr data and then it works. However, it still exists the following questions:

F20230923 17:37:30.726711 22140 marginalization_error.cpp:606] Check failed: it != parameter_block_id_to_parameter_block_infoidx.end() trying to marginalize out unconnected parameter block id = 3534327355540504576 Check failure stack trace: @ 0x7fa892a4d160 google::LogMessage::Fail() @ 0x7fa892a4d0a1 google::LogMessage::SendToLog() @ 0x7fa892a4c8be google::LogMessage::Flush() @ 0x7fa892a50564 google::LogMessageFatal::~LogMessageFatal() @ 0x7fa892ef79b1 gici::MarginalizationError::marginalizeOut() @ 0x7fa892eb7666 gici::EstimatorBase::applyMarginalization() @ 0x7fa892dfc02c gici::PppEstimator::marginalization() @ 0x7fa892dfdfbf gici::PppEstimator::estimate() @ 0x7fa892f550df gici::MultiSensorEstimating::processEstimator() @ 0x7fa892f5591e gici::MultiSensorEstimating::runBackend() @ 0x7fa892923df4 (unknown) @ 0x7fa892aeb609 start_thread @ 0x7fa89275d133 clone @ (nil) (unknown) Aborted (core dumped)

Thank you again.

If you use the non-ROS interface, it is a BUG of the latest version. The author will fix it a few days later. Refer to https://github.com/chichengcn/gici-open/issues/11#issuecomment-1724975468

Ganglee98 commented 9 months ago

你好，data1.1的start_time就是2023.03.20。直观看来，您的配置文件没有问题，请核对以下几点： 1.以上内容中未含estimate，请在实际yaml中涵盖estimate。 2.确定是否出现的是星历等待问题？还是卫星数目不足问题？如果是后者，请确保gnss_ssr.bin在文件夹实际存在。 3.data2.1与1.1的start_time相同，可以将数据集替换成2.1再尝试。 4.如果以上都没有问题，请上传完整的yaml文件

Thanks a lot. I use the datasets 4.1 which has the ssr data and then it works. However, it still exists the following questions: F20230923 17:37:30.726711 22140 marginalization_error.cpp:606] Check failed: it != parameter_block_id_to_parameter_block_infoidx.end() trying to marginalize out unconnected parameter block id = 3534327355540504576 Check failure stack trace: @ 0x7fa892a4d160 google::LogMessage::Fail() @ 0x7fa892a4d0a1 google::LogMessage::SendToLog() @ 0x7fa892a4c8be google::LogMessage::Flush() @ 0x7fa892a50564 google::LogMessageFatal::~LogMessageFatal() @ 0x7fa892ef79b1 gici::MarginalizationError::marginalizeOut() @ 0x7fa892eb7666 gici::EstimatorBase::applyMarginalization() @ 0x7fa892dfc02c gici::PppEstimator::marginalization() @ 0x7fa892dfdfbf gici::PppEstimator::estimate() @ 0x7fa892f550df gici::MultiSensorEstimating::processEstimator() @ 0x7fa892f5591e gici::MultiSensorEstimating::runBackend() @ 0x7fa892923df4 (unknown) @ 0x7fa892aeb609 start_thread @ 0x7fa89275d133 clone @ (nil) (unknown) Aborted (core dumped) Thank you again.

If you use the non-ROS interface, it is a BUG of the latest version. The author will fix it a few days later. Refer to #11 (comment)

Thanks for your help.