peidong-yu / giow-release

Introduction

This project contains source code and a demo of my article <GNSS/INS/ODO/Wheel Angle Integrated Navigation Algorithm for an All-Wheel Steering Robot>. The demo is about experiment 2 in the article. You can set the value of macro definiti on in "src/lcdefine.h" to get the result of 4 cases.

Mode #1: USE_ODO=0,USE_STEER=0

Mode #2: USE_ODO=0,USE_STEER=1

Mode #3: USE_ODO=0,USE_STEER=2

Mode #4: USE_ODO=1,USE_STEER=2

How to run?

git clone https://github.com/i2Nav-WHU/GIOW-release.git
# (In China) git clone https://gitee.com/forcazzx/GIOW-release.git
cd GIOW-release
mkdir build
cd build
cmake ..
make
# run the executable and wait a moment

Algorithm flowchart

Result

After running the executable, you can get "my_result.nav" and "system_error_state.txt" in the "data" folder. "my_result.nav" is the result of the project, which has 11 columns of data as follows.

useless	sow(s)	latitude(deg)	longitude(deg)	height(m)	vel_north(m/s)	vel_east(m/s)	vel_down(m/s)	roll(deg)	pitch(deg)	yaw(deg)

"system_error_state" is the error state estimation of this project, which has 24 columns of data as follows (vectors are denoted in italic letters).

sow(s)	pos_err(m)	vel_err(m/s)	att_err(rad)	gyro_bias(rad/s)	gyro_scale_factor	acce_bias(m/s^2)	acce_scale_factor	odo_scale_factor	wheel_angle_err(deg)

"reference_result.nav" is the reference, the format of which is as same as "my_result.nav". You can get the navigation error by comparing "my_result.nav" and "reference_result.nav". We get the navigation error of 4 cases in experiment 2 and plot them, as shown in "result" folder. The file "*.err" is the navigation error, which has 10 columns of data as follows (vectors are denoted in italic letters).

sow(s)	pos_err(m)	vel_err(m/s)	att_err(deg)

mode #1

mode #2

mode #3

mode #4