1: t添加适用于实时版本的rt_updateins 2:添加MPU6050相关参数 3:针对我们板子doppler观测值问题进行修正
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@ -570,7 +570,11 @@ static int tc_rescode(int iter, const obsd_t *obs, int n, const double *rs,
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rate=dot(vs,e,3)+OMGE/CLIGHT*(rs[4+i*6]*rr[0]+rs[1+i*6]*vr[0]-
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rate=dot(vs,e,3)+OMGE/CLIGHT*(rs[4+i*6]*rr[0]+rs[1+i*6]*vr[0]-
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rs[3+i*6]*rr[1]-rs[ i*6]*vr[1]);
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rs[3+i*6]*rr[1]-rs[ i*6]*vr[1]);
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/* doppler residual */
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/* doppler residual */
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#ifdef LG69T
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v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
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v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
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#elif defined(MPU6050)
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v[2*nv+1]=(obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
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#endif
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if(1){
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if(1){
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jaco_dop_dp(rs+6*i,rr,rs+3+6*i,vr,dopdp);
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jaco_dop_dp(rs+6*i,rr,rs+3+6*i,vr,dopdp);
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@ -824,7 +828,11 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
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sig=(err<=0.0)?1.0:err*CLIGHT/freq;
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sig=(err<=0.0)?1.0:err*CLIGHT/freq;
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/* range rate residual (m/s) */
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/* range rate residual (m/s) */
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v[nv]=(-obs[i].D[0]*CLIGHT/freq-(rate+x[3]-CLIGHT*dts[1+i*2]))/sig;
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#ifdef LG69T
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v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
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#else
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v[2*nv+1]=(obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
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#endif
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/* design matrix */
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/* design matrix */
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for (j=0;j<4;j++) {
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for (j=0;j<4;j++) {
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@ -338,7 +338,94 @@ extern void pregrav(const double *pos, double *g)
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g[1]+=SQR(OMGE)*pos[1]; /* (2.84) */
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g[1]+=SQR(OMGE)*pos[1]; /* (2.84) */
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#endif
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#endif
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}
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}
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/* update ins states ----------------------------------------------------------
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* updata ins states with imu measurement data in e-frame
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* args :
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* ins_t *ins IO ins states
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* imudata_t *data I imu measurement data
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* return : 0 (fail) or 1 (ok)
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*----------------------------------------------------------------------------*/
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extern int rt_updateins(ins_t *ins,const imud_t *data){
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double dt,Cbe[9],fe[3],ge[3],cori[3],Cbb[9]={1,0,0,0,1,0,0,0,1};
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double Ca[9],Ca2[9],a1,a2,mag_alpha,alpha[3]={0},Omg[9]={0},ae[3]={0};
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double das[3]={0},dvs[3]={0},fb[3],acc[3]={0},old_pos[3]={0};
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traceins(3,ins);
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trace(3,"imu %lf,%lf,%lf,%lf,%lf,%lf\n",data->accl[0],data->accl[1],data->accl[2],data->gyro[0],data->gyro[1],data->gyro[2]);
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savepins(ins);
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dt= timediff(data->syn_time,ins->gtime);
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if(dt<0){
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ins->gtime =data->syn_time;
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trace(2,"dt<0 dt = %lf\n",dt);
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return 0;
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}
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if(dt > MAXDT || fabs(dt)<1E-6){
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/* update time information */
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ins->dt = dt;
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ins->pgtime=ins->gtime;
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ins->gtime =data->syn_time;
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trace(2,"time difference too large: %.10fs\n",dt);
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return 0;
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}
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for(int i=0;i<3;i++){
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ins->omgb[i] = data->gyro[i] - ins->gyro_bias[i];
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ins->fb[i] = data->accl[i] - ins->acc_bias[i];
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}
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ae[2]=OMGE*dt;
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/* rotational and sculling motion correction */
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rotscull_corr(ins,dt,dvs,das);
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/* update attitude */
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for (int i=0;i<9;i++) Cbe[i]=ins->Cbe[i];
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updateatt(dt,ins->Cbe,ins->omgb,das);
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for (int i=0;i<3;i++) alpha[i]=ins->omgb[i]*dt+das[i];
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skewsym3(alpha,Ca);
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/* check if the value is too small to keep numerical robustness */
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if ((mag_alpha=norm(alpha,3))>1E-8) {
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a1=(1.0-cos(mag_alpha))/SQR(mag_alpha);
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a2=1.0/SQR(mag_alpha)*(1.0-sin(mag_alpha)/mag_alpha);
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matmul3("NN",Ca,Ca,Ca2);
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for (int i=0;i<9;i++) Cbb[i]+=a1*Ca[i]+a2*Ca2[i];
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skewsym3(ae,Omg);
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matmul3("NN",Cbe,Cbb,Ca);
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matmul3("NN",Omg,Cbe,Ca2);
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for (int i=0;i<9;i++) Cbe[i]=Ca[i]-0.5*Ca2[i];
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}
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else {
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skewsym3(ae,Omg);
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matmul3("NN",Omg,Cbe,Ca);
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for (int i=0;i<9;i++) Cbe[i]-=0.5*Ca[i];
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}
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/* specific-force/gravity in e-frame */
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for (int i=0;i<3;i++) fb[i]=ins->fb[i]+dvs[i]/dt;
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matmul3v("N",Cbe,fb,fe);
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/* precious gravity model */
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pregrav(ins->position,ge);
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/* old velocity */
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matcpy(ins->p_velocity,ins->velocity,1,3);
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/* update velocity/position */
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matmul3v("N",Omge,ins->velocity,cori);
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for (int i=0;i<3;i++) {
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acc[i]=fe[i]+ge[i]-2.0*cori[i];
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ins->velocity[i]+=acc[i]*dt;
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// ins->position[i]+=ins->velocity[i]*dt+acc[i]/2.0*dt*dt;
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ins->position[i]+=(ins->velocity[i]+ins->p_velocity[i])/2*dt;
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}
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ins->dt=timediff(data->syn_time,ins->gtime);
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ins->ptime=ins->time;
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ins->gtime = data->syn_time;
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ins->time = data->time;
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ins->stat =INSS_MECH;
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return 1;
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}
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/* update ins states ----------------------------------------------------------
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/* update ins states ----------------------------------------------------------
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* updata ins states with imu measurement data in e-frame
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* updata ins states with imu measurement data in e-frame
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* args :
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* args :
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@ -12,11 +12,9 @@
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#define INS_RANDOM_WALK 1
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#define INS_RANDOM_WALK 1
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#define INS_GAUSS_MARKOV 2
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#define INS_GAUSS_MARKOV 2
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#define CORRETIME 360 /* correlation time for gauss-markov process */
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#define CORRETIME 360 /* correlation time for gauss-markov process */
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#define LG69T
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/* insopt init ------------------------------------------*/
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/* insopt init ------------------------------------------*/
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extern void rt_insopt_init(insopt_t *insopt){
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extern void rt_insopt_init(insopt_t *insopt){
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#ifdef LG69T
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insopt->init_att_unc = 10.0*D2R;
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insopt->init_att_unc = 10.0*D2R;
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insopt->init_vel_unc =30.0;
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insopt->init_vel_unc =30.0;
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insopt->init_pos_unc = 30.0;
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insopt->init_pos_unc = 30.0;
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@ -24,17 +22,17 @@ extern void rt_insopt_init(insopt_t *insopt){
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insopt->init_b_g_unc = (30.0 *D2R/3600);
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insopt->init_b_g_unc = (30.0 *D2R/3600);
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insopt->init_clk_offset_unc = 100.0;
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insopt->init_clk_offset_unc = 100.0;
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insopt->init_cllk_drift_unc = 10.0;
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insopt->init_cllk_drift_unc = 10.0;
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#ifdef LG69T
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insopt->gyro_noise_PSD = (4.5608709013908013e-7);
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insopt->gyro_noise_PSD = (4.5608709013908013e-7);
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insopt->accel_noise_PSD = (1.3516059391412613e-2);
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insopt->accel_noise_PSD = (1.3516059391412613e-2);
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insopt->accel_bias_PSD = (6.2711800396676807e-7);
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insopt->accel_bias_PSD = (6.2711800396676807e-7);
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insopt->gyro_bias_PSD = (1.2475185921386573e-10);
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insopt->gyro_bias_PSD = (1.2475185921386573e-10);
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#elif defined(MPU6050)
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// insopt->gyro_noise_PSD = (7.5608709013908013e-4);
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insopt->gyro_noise_PSD = 9.6624038359801494e-04;
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// insopt->accel_noise_PSD = (2.3516059391412613e-2);
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insopt->accel_noise_PSD = 1.6859942078067028e-02;
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// insopt->accel_bias_PSD = 6.2711800396676807e-4;
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insopt->accel_bias_PSD = 7.0943796082649242e-04;
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// insopt->gyro_bias_PSD = 1.2475185921386573e-9;
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insopt->gyro_bias_PSD = 1.6540434623057674e-05;
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#endif
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insopt->clock_freq_PSD = 1.0;
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insopt->clock_freq_PSD = 1.0;
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insopt->clock_phase_PSD = 1.0;
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insopt->clock_phase_PSD = 1.0;
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@ -51,9 +49,6 @@ extern void rt_insopt_init(insopt_t *insopt){
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insopt->L_ba_b[2]=-0.8;
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insopt->L_ba_b[2]=-0.8;
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insopt->noise_type = INS_GAUSS_MARKOV;
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insopt->noise_type = INS_GAUSS_MARKOV;
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#elif
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#endif
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}
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}
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/* get number of phase bias */
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/* get number of phase bias */
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extern int xnB(const insopt_t *insopt){
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extern int xnB(const insopt_t *insopt){
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@ -654,7 +649,7 @@ extern int tcigpos(const prcopt_t *opt,const obsd_t *obs,int n,const nav_t *nav,
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ins->stat = INSS_NONE;
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ins->stat = INSS_NONE;
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/* update ins states in e-frame */
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/* update ins states in e-frame */
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/* dt 在这里取值 */
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/* dt 在这里取值 */
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if(!updateins(ins,imu)){
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if(!rt_updateins(ins,imu)){
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trace(2,"ins mechanization update fail\n");
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trace(2,"ins mechanization update fail\n");
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return 0;
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return 0;
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}
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}
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_rwlock_t.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/stdio.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/stdio.h:
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@ -6648,8 +7293,6 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
|
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||||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/malloc/_malloc.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/malloc/_malloc.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/fcntl.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_fd_set.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_fd_set.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/netinet/tcp.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/netinet/tcp.h:
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@ -6670,8 +7313,4 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
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|
||||||
/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/binex.c:
|
/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/binex.c:
|
||||||
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|
||||||
/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/stream.c:
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|
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/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/rtcm2.c:
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|
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||||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/secure/_common.h:
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/secure/_common.h:
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Binary file not shown.
@ -1,3 +1,3 @@
|
|||||||
Start testing: Mar 30 10:14 CST
|
Start testing: Apr 01 15:31 CST
|
||||||
----------------------------------------------------------
|
----------------------------------------------------------
|
||||||
End testing: Mar 30 10:14 CST
|
End testing: Apr 01 15:31 CST
|
||||||
|
@ -585,6 +585,8 @@ extern "C" {
|
|||||||
#endif
|
#endif
|
||||||
|
|
||||||
//#define CLIENT 0
|
//#define CLIENT 0
|
||||||
|
#define MPU6050
|
||||||
|
|
||||||
|
|
||||||
/* type definitions ----------------------------------------------------------*/
|
/* type definitions ----------------------------------------------------------*/
|
||||||
|
|
||||||
@ -1574,6 +1576,7 @@ EXPORT void gravity_ned(const double *pos,double *gn);
|
|||||||
EXPORT double gravity0(const double *pos);
|
EXPORT double gravity0(const double *pos);
|
||||||
EXPORT void gravity(const double *re, double *ge);
|
EXPORT void gravity(const double *re, double *ge);
|
||||||
EXPORT int updateins(ins_t *ins,const imud_t *data);
|
EXPORT int updateins(ins_t *ins,const imud_t *data);
|
||||||
|
EXPORT int rt_updateins(ins_t *ins,const imud_t *data);
|
||||||
EXPORT void dcm2rpy(const double *Cnb,double *rpy);
|
EXPORT void dcm2rpy(const double *Cnb,double *rpy);
|
||||||
EXPORT void rpy2dcm(const double *rpy,double *Cnb);
|
EXPORT void rpy2dcm(const double *rpy,double *Cnb);
|
||||||
EXPORT void getatt(const ins_t *ins,double *rpy);
|
EXPORT void getatt(const ins_t *ins,double *rpy);
|
||||||
|
@ -2,6 +2,7 @@
|
|||||||
#include "sys/stat.h"
|
#include "sys/stat.h"
|
||||||
#include "rtklib.h"
|
#include "rtklib.h"
|
||||||
|
|
||||||
|
#define RT
|
||||||
|
|
||||||
int main(int argc, char **argv) {
|
int main(int argc, char **argv) {
|
||||||
char *imu_path="../data/630_3/IMU.csv";
|
char *imu_path="../data/630_3/IMU.csv";
|
||||||
@ -9,10 +10,16 @@ int main(int argc, char **argv) {
|
|||||||
char *sat_path="../data/630_3/Sat.csv";
|
char *sat_path="../data/630_3/Sat.csv";
|
||||||
char *obs_path="../data/630_3/r.obs";
|
char *obs_path="../data/630_3/r.obs";
|
||||||
char *nav_path="../data/630_3/r.nav";
|
char *nav_path="../data/630_3/r.nav";
|
||||||
|
#ifdef RT
|
||||||
|
if(!tcpos()){
|
||||||
|
trace(2,"post time tightly coupled fail\n");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#else
|
||||||
if(!ps_tcpos(imu_path,pvt_path,sat_path,obs_path,nav_path)){
|
if(!ps_tcpos(imu_path,pvt_path,sat_path,obs_path,nav_path)){
|
||||||
trace(2,"post time tightly coupled fail\n");
|
trace(2,"post time tightly coupled fail\n");
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
return 0;
|
return 0;
|
||||||
|
#endif
|
||||||
}
|
}
|
||||||
|
Loading…
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Reference in New Issue
Block a user