chichengcn
commented
2 months ago - SPP配置中的compute_covariance应该置为true，因为LC程序需要SPP的协方差以设置误差权重。
- SPP配置中的estimate_velocity应该置为true，因为LC配置中的est_spp_roles被设置为了position_and_velocity。当然，也可以在estimate_velocity为false的情况下，把est_spp_roles设置为position，但还是建议保留速度估计值，它在组合导航中发挥的作用很大。
936384885xy
池博您好，我参考项目示例配置文件ros_real_time_estimation_LC.yaml和ros_real_time_estimation_SPP.yaml自己修改了一个spp_lc的配置，但是运行后只有spp的estimator正常工作了，gnss_imu的estimator没有启动。 但是log里有显示Initialized 9 streamers, 3 formaters, and 2 estimators. Running... 我是否需要修改代码以实现这个功能？还是我的配置文件哪里有错误？ 我改的配置文件内容如下：
GICI offline pseudo-real-time GNSS/IMU LC estimation with ROS topics as input and output
stream: streamers:
streamer: tag: str_solution_path type: ros topic_name: solution_path queue_size: 100 io: output format: path
formators:
formator: io: output tag: fmt_lc_solution_file type: nmea use_esa: true talker_id: GP
replay: enable: false
estimate:
estimator: tag: est_spp type: spp input_tags: [str_ros_gnss_rov, str_ros_gnss_eph, fmt_dcb_file] str_ros_gnss_rov_roles: [rover] str_ros_gnss_eph_roles: [ephemeris] fmt_dcb_file_roles: [code_bias] output_tags: [fmt_spp_solution_file] output_align_tag: str_ros_gnss_rov compute_covariance: false spp_options: estimate_velocity: false gnss_estimator_base_options: gnss_common: min_elevation: 12.0 min_SNR: [35.0, 30.0] use_outlier_rejection: true max_pesudorange_error: 10.0 estimator_base_options: max_iteration: 10 num_threads: 2 max_solver_time: 0.05 verbose_output: true solver_type: dense_normal_cholesky trust_region_strategy_type: levenberg_marquardt
estimator: tag: est_gnss_imu_lc type: gnss_imu_lc input_tags: [str_ros_imu, est_spp] str_ros_imu_roles: [major] est_spp_roles: [position_and_velocity] output_tags: [ str_solution, str_solution_odometry, str_solution_path, fmt_lc_solution_file, ] output_align_tag: str_ros_imu output_downsample_rate: 40 gnss_imu_lc_options: max_window_length: 5 gnss_loose_estimator_base_options: imu_estimator_base_options: imu_parameters: sigma_bg: 1.0e-3 sigma_ba: 1.0e-2 sigma_g_c: 2.6700e-04 sigma_a_c: 0.0112 sigma_gw_c: 2.0881e-06 sigma_aw_c: 2.7361e-04 car_motion: true body_to_imu_rotation: [-90.0, -90.0, 0.0] body_to_imu_rotation_std: 5.0 car_motion_min_velocity: 3.0 car_motion_max_anguler_velocity: 5.0 estimator_base_options: max_iteration: 5 num_threads: 4 max_solver_time: 0.05 verbose_output: true solver_type: sparse_normal_cholesky trust_region_strategy_type: dogleg gnss_imu_initializer_options: max_iteration: 30 num_threads: 4 max_solver_time: 0.5 gnss_extrinsics: [-0.029, 0.354, -0.042] gnss_extrinsics_initial_std: [0.0, 0.0, 0.0] time_window_length_slow_motion: 0.05 time_window_length_dynamic_motion: 0.5 min_acceleration: 0.5
logging: enable: true min_log_level: 0 log_to_stderr: true file_directory: /home/l1/gici-open/output