README.md

第八章作业

作业要求

实现融合运动模型的滤波方法

可以仿照CorrectErrorEstimationPoseVel中的给CorrectErrorEstimationPose加上运动模型约束

• Test1

  error_state_kalman_filter:
    earth:
        # gravity can be calculated from https://www.sensorsone.com/local-gravity-calculator/ using latitude and height:
        gravity_magnitude: 9.80943
        # rotation speed, rad/s:
        rotation_speed: 7.292115e-5
        # latitude:
        latitude:   48.9827703173
    covariance:
        prior:
            pos: 1.0e-6
            vel: 1.0e-6
            ori: 1.0e-6
            epsilon: 1.0e-6
            delta: 1.0e-6
        process:
            gyro: 1.0e-4
            accel: 2.5e-3
        measurement:
            pose:
                pos: 1.0e-4
                ori: 1.0e-4
            pos: 1.0e-4
            vel: 2.5e-3
    motion_constraint: 
        activated: true
        w_b_thresh: 0.13

  APE	laser	fused
  max	2.706153	2.783004
  mean	1.750127	1.751943
  median	1.728464	1.731996
  min	1.000020	0.891633
  rmse	1.759152	1.762624
  sse	13607.027875	13660.785561
  std	0.177962	0.193746

• Test2

  error_state_kalman_filter:
    earth:
        # gravity can be calculated from https://www.sensorsone.com/local-gravity-calculator/ using latitude and height:
        gravity_magnitude: 9.80943
        # rotation speed, rad/s:
        rotation_speed: 7.292115e-5
        # latitude:
        latitude:   48.9827703173
    covariance:
        prior:
            pos: 1.0e-6
            vel: 1.0e-6
            ori: 1.0e-6
            epsilon: 1.0e-6
            delta: 1.0e-6
        process:
            gyro: 1.0e-4
            accel: 2.5e-3
        measurement:
            pose:
                pos: 1.0e-3   # x10
                ori: 1.0e-3   # x10
            pos: 1.0e-3       # x10
            vel: 2.5e-3
    motion_constraint: 
        activated: true
        w_b_thresh: 0.13

  APE	laser	fused
  max	1.847445	1.890410
  mean	0.902068	0.917762
  median	0.873098	0.892060
  min	0.367366	0.358313
  rmse	0.919268	0.937960
  sse	3708.941335	3861.305624
  std	0.176994	0.193600

实现gps位置和编码器的滤波融合

这个好像第八章作业框架代码已经实现了啊

配置文件里选择position_velocity融合策略

• gnss
• fused