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kf-gins's Issues

Add support to use velocity as input values

Sice velocity is more accurate measurment in gnss devices. I think this feature will lead to accurate attitude in navigation result despite having positions with high errors.

组合定位结果

您好,想问一下,KF-GINS程序,最终的定位结果更新频率是200Hz,但是每一秒只有一次卫导结果。在非整秒的时候,卫导和惯导结果没有匹配上,怎么做组合啊

How do I calculate imu noise parameters for my IMU

Hello,
How do I calculate below parameters for my IMU?
These parameters are given in kf-gins.yaml

I'm using Bosch BMI088 and changed the code to accept data in real time and passing it to gi.engine.

imunoise:
arw: [0.003, 0.003, 0.003] # [deg/sqrt(hr)]
vrw: [0.03, 0.03, 0.03] # [m/s/sqrt(hr)]
gbstd: [0.027, 0.027, 0.027] # [deg/hr]
abstd: [15.0, 15.0, 15.0] # [mGal]
gsstd: [300.0, 300.0, 300.0] # [ppm]
asstd: [300.0, 300.0, 300.0] # [ppm]
corrtime: 4.0 # [hr]

输入数据转增量中的重力加速度问题

hello:
首先非常感谢开源了这个工程和对应的课程!
在实践时,我这边使用的数据imu是加速度和角速度,也阅读了这个issue:https://github.com/i2Nav-WHU/KF-GINS/issues/23。但是发现如果使用时间增量乘以加速度计算速度增量,因为加速度的值一直是9.8左右,乘以时间增量后,Z向一直有1个较大的速度增量,但是实际上车体Z向的速度增量为0或很小,我有几个疑惑:
1、计算速度增量前,需要先减掉重力加速度吗?
2、如果要减去重力加速度,稍精确的重力加速度应该和纬度有关,但是我在做imu转换时,不知道纬度,这个怎么处理合理呢?
3、如果不用减重力加速度,在机械编排时应该怎么改动呢?
期待您的答复!

regards

How to log our own dataset ?

image
Hi, I have a setup of IMU and GNSS with RTK, which logs acceleration in m/sec2 and rate of change in degree/second.
In the data set the given IMU format requires XYZ incremental angles in radian and XYZ incremental velocity in m/s.
Please guide me, how can I get these values from accelerometer and Gyroscope.

KF-GINS considering dual GNSS yaw measurement

Thanks for sharing the KF-GINS code. For the double antenna configuration, GNSS can output yaw measurements and keep the yaw angle observable. How to modify the measurement equations and code.

Script or program to model IMU noise

I think we are in need of script or app that could help users in calculating ARW VRW std etc. many users does not use tbe same IMU as project. I think it would be great if some script could facilate IMU error modeling.

Issue about GNSS interference

The struct of GNSS is defined as follows,

struct GNSS {
  double time;

  Eigen::Vector3d blh;
  Eigen::Vector3d std;

  bool isvalid;
};

If there is GNSS interference, the isvalid of GNSS return false. How to consider these problems in the GNSS-INS integrated system? Thanks!

please describe dataset logger hardware specs

I'm so grateful for your work and open sourcing this software

it seems like you have used ICM-20605 IMU in datasets logger. the original IMU raw data are in 1000Hz and trapezoidal integrated to achieve 200 Hz delta data. if this assumption is true. please describe trapezoidal integration algorithm which is carried on raw data to gather datasets

我现在想用我自己的imu数据和gnss数据替换工程中的Leador-A15.txt和GNSS-RTK.txt进行测试

您好,请教您个问题:

  1. 我现在采集了一份imu数据和gnss数据我分别命名为imu.txt和gnss.txt,数据的存储格式是按着Leador-A15.txt和GNSS-RTK.txt来的;
  2. 我的imu输出的是三轴加速度和三轴角速度,频率是100Hz,我自己计算出了三轴速度增量和角度增量;
  3. gnss.txt我只记录了经纬度和高程,最后三列的STD value我都填的是0,gnss的频率是10Hz;
  4. 然后我修改了kf-gins.yaml文件,仅修改了如下几项:
  • imupath和gnsspath指定为imu.txt和gnss.txt
  • 将imudatarate修改为100
  • 将starttime修改为imu.txt中的时间,不是imu.txt的第一条消息的时间而是仿照你的工程,是开始后几秒的一个时间。
  • 将初始姿态initpos,修改为gnss.txt中starttime时刻的位置

如果我想用我自己的imu和gnss数据跑这个算法,具体我需要怎么做?希望得到您的指导,谢谢!

关于机械编排中的姿态更新

作者好!想问下机械编排姿态更新部分,利用等效旋转矢量计算中间时刻的四元数的过程中,temp的计算式中是否该加一个q_nk,nk-1呢,也就是我觉得qne_cur.inverse() * qne_pre似乎得到的不是q_ek,ek-1
midvel = (pvapre.vel + pvacur.vel) / 2;
qne_pre = Earth::qne(pvapre.pos);
qne_cur = Earth::qne(pvacur.pos);
temp1 = Rotation::quaternion2vector(qne_cur.inverse() * qne_pre); <---------------------------这个地方
qne_mid = qne_pre * Rotation::rotvec2quaternion(temp1 / 2).inverse();
midpos[2] = (pvacur.pos[2] + pvapre.pos[2]) / 2;
midpos = Earth::blh(qne_mid, midpos[2]);

Accept input data from low-cost MEMS IMU

A lot of users afford low-cost MEMS IMU in their project or product. It would be of great helpful if you provide the way to accept input data from low-cost MEMS imu, which uses linear acc and angular velocity directly instead of their delta.

What's more, I wonder whether the noise parameter of IMU should be adapted if we use linear acc and angular velocity as input.

IMU数据准备

您好我有几个问题想请教一下
1、由于IMU在车上安装的位置不定,如果安装位置没有与载体对齐,安装误差会产生算法层面的误差吗?
2、当把输出速率转化为增量输入算法时,需要先对产品手册中描述的零偏进行补偿吗?

看定位结果

作者好,我想问一下,在linux下运行完,怎么看定位结果啊

How to Identify Yaw Angle Drift? What are the Key Parameters to Monitor in the Code ?

Thank you for open-sourcing this excellent code.

I've implemented modifications to KF-GINS to ensure compatibility with the STM32 Microcontroller at my end. The code now effectively processes sensor inputs and executes the Kalman process in real-time, functioning seamlessly.

I do have a specific inquiry. When the device remains in a static state for several minutes, there is noticeable drift in the Yaw angle, which is expected given its reliance on a 6DoF system. And, EKF corrects this drift when the device is in motion.

To identify whether the yaw angle has drifted, which parameters should I monitor in the code?

IMU的增量转换

我们的IMU测量出来的数据是加速度计的加速度,陀螺仪的角速度,我想知道怎么转换为你们的增量的呢?直接时间间隔乘加速度?

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