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zm0612 / eskf-gps-imu-fusion

误差状态卡尔曼ESKF滤波器融合GPS和IMU，实现更高精度的定位
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LLA2NED should change to LLA2ENU #6

Closed likegogogo closed 2 years ago

likegogogo commented 2 years ago

in file src\gps_flow.cpp

zm0612 commented 2 years ago

坐标系的问题和输入的数据有关，我这里使用的gnss-ins-sim的仿真数据，坐标系的关系可以看一下这个文档里的内容：https://github.com/zm0612/eskf-gps-imu-fusion/tree/main/gnss-inss-sim#3%E6%B3%A8%E6%84%8F