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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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A problem when I try to add GPS measurement update in open_vins #179

Closed xhy3054 closed 3 years ago

xhy3054 commented 3 years ago

Hello, the covariance of vio will fly away soon, when I try to add GPS measurement update in open_vins. Do you have any suggestions if you have experience in similar work? The residual and jacobian of GPS measurement refers to your article "Intermittent GPS-aided VIO: Online Initialization and Calibration".(I have checked many times for the derivation of jacobian, but I can't find where wrong... so do you think where else should extra attention be paid? )

goldbattle commented 3 years ago

Thanks for taking a look at the project. GPS fusion is not a part of this codebase, so I recommend you debug that on your own. The paper you mentioned does cover the necessary background on the problem. I recommend you first test with the simulator with known calibration and ENU-VIO sensor frame and then move on from there. Best of luck!