Open timuxi opened 1 year ago
@Pirkaklo Hi Yihan, can you please take a look at this? thanks
timuxi commented May 23, 2023 •
Thanks for sharing your results. Before we discuss the FGO results in the static dataset, the result of RTK looks strange. To help address your concern, please provide the specific options or configuration settings you used for RTKLIB. Knowing the options will help us analyze any discrepancies or potential issues.
@Pirkaklo Thanks for your reply,the following is a configuration item in my RTKLIB. I haven't made any modifications to the original configuration items in the code (if I haven't made any mistakes). If you need the data file I calculated, I can send it to you via email
Hi @timuxi , thanks for the feedback!
Still, lots of things can be done to improve this repository. For example, cycle slip detection could be added. The constant ambiguity variable constraint can also be applied. We are internally working on this new version of the GNSS-RTK using FGO. We would open-source this version soooon.
Hi @weisongwen ,Professor Wen, thank you for your patient answer. I have another question: you mentioned RTK-EKF in your paper. May I ask if this refers to the result calculated directly through rtklib? Or implemented by yourself ? (to avoide optimization methods in rtklib)
@weisongwen Thanks for your reply, Professor Wen. It seems that I have fallen into confusion. I will list them one by one:
1、As you wrote in the MD, the results of RTK position (solution 2) will be saved by default in
~/GraphGNSSLib/trajectory_psr_dop_fusion.csv.
However, I cannot find the function to log the results. But I did find the log functionfactor_graph.logResults(logPath);
inpsr_doppler_fusion.launch.
As you said, the default name is~/GraphGNSSLib/trajectory_psr_dop_fusion.csv,
but I see that the name is<param name="logPath" type="string" value="$(findglobal_fusion)/FGO_trajectoryllh_psr_dop_fusion.csv" />
. It seems different.2、I was confused about the meaning of ref_lat, ref_lon, and ref_alt. Initially, I thought they were transformed from station_x, station_y, and station_z to represent llh coordinate, but after testing, I found that they represent different positions. Then I looked up the previous issue and found that it seems to be related to the enu coordinate system?, What I want to know is whether this value will affect the final positioning result?
3、No matter how I change the opt in the code, I still cannot get the same result as in your paper. Is the data (solution 2 static) the same as in your paper? Or did I make some mistakes? Here are the results of my run, with orange representing rtklib, blue representing fgo, and red representing groundtruth.