Comments (5)
我需要的可能不是根据imu得到一个更精准的经纬 ,而是通过gps修正 imu的偏差 。
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@wei-kris 可以参考捷联惯导里面 松耦合的方式,不过用一般imu yaw角度变化波动挺大,建议做一下低通滤波和指数平滑
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@yyccR 感谢回复 ,我对惯导相关知识了解太少 ,近期正在吸收中 ,我想大概的实现过程是:
在EKF预测运算时,使用IMU作为预测数据进行计算,只要有IMU数据产生,就立即进行位姿预测,而使用GPS传感器的数据作为参考观测值,当有观测值数据产生时,使用观测值对预测值进行修正,并且更新IMU和预测数据,从而保证预测结果不会产生太大的累积误差。
关于我的需求您可以帮忙提供一些资源么? 我找到了一个关于IMU GNSS 松耦合EKF实现但是不确定他是否能够解决问题:
https://github.com/aaronboda24/Loose-GNSS-IMU
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比较适合入门的参数书籍:《捷联惯性导航技术(第2版 译本)》译者:张天光/王秀萍/王丽霞 作者:DavidH.Titte
另外看了你的描述,如果只是为了大概纠正imu在更新过程中的误差,那么采用无耦合对你来说更方便。
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谢谢 ,纠正imu在更新过程中的误差是一方面 ,像您建议的做低通滤波,或者使用加速度计和陀螺仪做互补滤波, 但是这个imu可能一开始就有一些偏移,比如手持设备拿的有点歪,所以在考虑GNSS做这种卡尔曼融合滤波能否解决拟合问题。
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