FAILURE (Residual and Jacobain evaluation failed)

i2Nav-WHU / OB_GINS

An Optimization-Based GNSS/INS Integrated Navigation System

GNU General Public License v3.0

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Closed muAluo-Juan closed 2 months ago

muAluo-Juan commented 4 months ago

Hi, I used OBGINS on my own dataset, but encountered the following problem. I don't know the reason and how to solve it.

I would appreciate if there is someone can help me.

This is my GNSS_RTK.pos:

And this my ADIS16465.txt:

thlsealight commented 4 months ago

Sorry for that. OB-GINS only supports the GNSS with the FPS of 1Hz. Maybe you can interpolate the GNSS.

muAluo-Juan commented 4 months ago

Thank you for your reply. I processed GNSS_RTK.pos so that there is only one GNSS data per second, but I still encountered this issue.

muAluo-Juan commented 4 months ago

Are there any other data requests that I should be aware of?

thlsealight commented 4 months ago

Are there any other data requests that I should be aware of?

Maybe you can refer to the demo dataset.

thlsealight commented 2 months ago

The STD in your GNSS_RTK.pos file seems to be zero, and this may be the problem. You should not use a zero STD.