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mbrossar / ai-imu-dr

AI-IMU Dead-Reckoning
MIT License
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what will happen if this method used in high precision imu navigation? #24

Closed desa001 closed 4 years ago

desa001 commented 5 years ago

Hi,

First thanks for your great work and open source.

I have downloaded your code and run it on my laptop, the result is really cool. But I notice that both the KITTI dataset and your another article "RINS-W: Robust Inertial Navigation System on Wheels" 's dataset the IMU gyro and accelermeter precision is really low, it break its limition and reach a good result using iekf and training methond.

Now I am working on high precision IMU navigation such as fog imu(bias stablity < 0.05 deg/h) so I just want to ask : are you think about the proposed method will have good affect on high precision IMU . I want to try, but not for sure.

mbrossar commented 5 years ago

Hi,

Thanks you for your comments.

If you us an high precision imu, I suggest to first seen the RINS-W paper. With such sensor, the main source of errors is bias. I think the method suits well for correcting this bias when the vehicle is stopped.

EdernOllivier commented 5 years ago

Well I do suppose that you know the noise and the output frequency of them. If they are faut it is much better for the estimation to be postpone.

EdernOllivier commented 5 years ago

If they are high

desa001 commented 5 years ago

Hi,

Thanks you for your reply.

In these two articles, the effects of earth rotation and Coriolis acceleration are ignored. However, in the high precision navigation and long distance navigation (>50km), those effect should not be ignored. In that case, the velocity of the carrier in the inertial frame is equal to $w_{ie}^i \times r^i $ when the carrier stops. Since $r^i $ is unknown, I want to ask how to use ZUPT in this case. Thanks very much.

EdernOllivier commented 5 years ago

Sure

EdernOllivier commented 5 years ago

Cf. Les travaux de Faure sur le référentiel inertiel

EdernOllivier commented 5 years ago

Personnellement, j'avais lu son bouquin "Navigation inertielle et filtrage optimal" et c'est un peu mathématique mais bon on s'habitue à tout

EdernOllivier commented 5 years ago

Désolé par Pierre Faurre

EdernOllivier commented 5 years ago

Je viens de le commander et c'est vraiment un bon livre pour mieux comprendre comment cela s'organise et fonctionne en mode inertiel.