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karanchawla / GPS_IMU_Kalman_Filter

Fusing GPS, IMU and Encoder sensors for accurate state estimation.
Apache License 2.0
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GPS datas #14

Open lolodenimes opened 4 years ago

lolodenimes commented 4 years ago

I runned the filter with several data sets and find out that the GPS state is totaly out of state. The acceleration and velocity are correct but not the GPS and i don't succed in finding out what's the problem... Pls help me =( I'll link a picture of what's happening (red is the datas and blue the state). plot

lolodenimes commented 4 years ago

and i don't manage to find anithing about those equations: _state(0) = _state(0) + (_state(3)/_state(4)) (sin(_state(4) dt + _state(2)) - sin(_state(2))); _state(1) = _state(1) + (_state(3)/_state(4)) (-cos(_state(4) dt + _state(2)) + cos(_state(2)));