Comments (3)
qingyangG
commented on August 19, 2024
- 偏置肯定要更新, 不然imu输出数据会飞掉. 2. R必须用更新, 因为error_state里面的EKF会使用.
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HuangZhen66
commented on August 19, 2024
好的，谢谢~ 不过我们实际使用中，似乎注掉效果要更好些。 请问下全部状态量都要更新是从理论公式推导方面得出的必须更新吗？
- 偏置肯定要更新, 不然imu输出数据会飞掉. 2. R必须用更新, 因为error_state里面的EKF会使用.
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qingyangG
commented on August 19, 2024
好的，谢谢~ 不过我们实际使用中，似乎注掉效果要更好些。 请问下全部状态量都要更新是从理论公式推导方面得出的必须更新吗？
- 偏置肯定要更新, 不然imu输出数据会飞掉. 2. R必须用更新, 因为error_state里面的EKF会使用.
可以这么理解
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Related Issues (9)
- GPS驱动能否提供一下呢？
- first, thanks for sharing this good implementation, a small question, the code here is not match with the article, does the code means the angle error is expressed in imu coordinate, and the article mean the angle error is expressed in utm coordinate? thanks.
- 你好，我们能有偿的请您给我们解答下几个疑惑吗？不会占用您太多时间。主要问题就是提问的那个。（1-2h或者半天，时间还可以商量，我通过知乎也联系您了）
- GeographicLib报错
- UpdateStateByGpsPosition 中state->cov的计算公式 HOT 2
- 可否加個wechat向您請教與交流
- 姿态不准问题(源代码没有问题，是我们添加的一处逻辑导致的) HOT 1
- 请教一下，这个ESKF只用了gps观察位置值，那是否可以只更新位置状态呢？ HOT 1
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