diff --git a/.DS_Store b/.DS_Store index 10112ba..b3ff32c 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/TC_KF_init.m b/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/TC_KF_init.m index 0c8d17a..531f8b9 100644 --- a/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/TC_KF_init.m +++ b/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/TC_KF_init.m @@ -38,7 +38,7 @@ TC_KF_config.accel_noise_PSD = (0.08*micro_g_to_meters_per_second_squared)^2; % Accelerometer bias random walk PSD (m^2 s^-5) TC_KF_config.accel_bias_PSD = 2*10E-5; % Gyro bias random walk PSD (rad^2/s^3) -TC_KF_config.gyro_bias_PSD = (1.4556e-05)^2; +TC_KF_config.gyro_bias_PSD = (1.4556e-05); % Receiver clock frequency-drift PSD (m^2/s^3) TC_KF_config.clock_freq_PSD = 1; diff --git a/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/main.m b/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/main.m index 2646988..e59ba36 100644 --- a/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/main.m +++ b/Matlab/psr+dpsr_3.0 mydemo/psr+dpsr_3.0【import】/main.m @@ -37,9 +37,9 @@ old_est_v_ea_e=[pos.ecef_vX(index_ini_pos);pos.ecef_vY(index_ini_pos);pos.ecef_v [roll, pitch, ~] = COARSE_ALIGN(meas_f_ib_b, meas_omega_ib_b, 1000, IMU_config); init_pos = [old_est_L_a;old_est_lambda_a;old_est_h_a]; % 取IMU增量作为输入 -[att0, attk] = alignWahba([meas_omega_ib_b,meas_f_ib_b]*0.01, init_pos, 0); -head = att0(3); -attitude_ini = [0.08 , 0.2 , head]; +% [att0, attk] = alignWahba([meas_omega_ib_b,meas_f_ib_b]*0.01, init_pos, 0); +% head = att0(3); +attitude_ini = [0.08 , 0.2 , 0]; %% 提供初始位置与速度 old_est_C_b_n=Euler_to_CTM(attitude_ini)';%从IMU轴系到当地水平坐标系坐标转换矩阵 diff --git a/QT/.DS_Store b/QT/.DS_Store index d73eb8a..8c94ff6 100644 Binary files a/QT/.DS_Store and b/QT/.DS_Store differ diff --git a/QT/Win/read_IMU/.DS_Store b/QT/Win/read_IMU/.DS_Store index d739563..a74b856 100644 Binary files a/QT/Win/read_IMU/.DS_Store and b/QT/Win/read_IMU/.DS_Store differ diff --git a/QT/Win/read_IMU/cmake-build-debug/CMakeCache.txt b/QT/Win/read_IMU/cmake-build-debug/CMakeCache.txt index f85a729..c6979de 100644 --- a/QT/Win/read_IMU/cmake-build-debug/CMakeCache.txt +++ b/QT/Win/read_IMU/cmake-build-debug/CMakeCache.txt @@ -1,6 +1,6 @@ # This is the CMakeCache file. -# For build in directory: d:/GNSSINS/read_IMU/cmake-build-debug -# It was generated by CMake: D:/Program Files/JetBrains/CLion 2022.1/bin/cmake/win/bin/cmake.exe +# For build in directory: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug +# It was generated by CMake: /Applications/CLion.app/Contents/bin/cmake/mac/bin/cmake # You can edit this file to change values found and used by cmake. # If you do not want to change any of the values, simply exit the editor. # If you do want to change a value, simply edit, save, and exit the editor. @@ -15,10 +15,10 @@ ######################## //Path to a program. -CMAKE_ADDR2LINE:FILEPATH=D:/Qt/Tools/mingw810_64/bin/addr2line.exe +CMAKE_ADDR2LINE:FILEPATH=CMAKE_ADDR2LINE-NOTFOUND //Path to a program. -CMAKE_AR:FILEPATH=D:/Qt/Tools/mingw810_64/bin/ar.exe +CMAKE_AR:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar //Choose the type of build, options are: None Debug Release RelWithDebInfo // MinSizeRel ... @@ -33,21 +33,13 @@ CMAKE_CODEBLOCKS_EXECUTABLE:FILEPATH=CMAKE_CODEBLOCKS_EXECUTABLE-NOTFOUND //Additional command line arguments when CodeBlocks invokes make. // Enter e.g. -j to get parallel builds -CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING= +CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING=-j10 //Enable/Disable color output during build. CMAKE_COLOR_MAKEFILE:BOOL=ON //CXX compiler -CMAKE_CXX_COMPILER:FILEPATH=D:/Qt/Tools/mingw810_64/bin/g++.exe - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_AR:FILEPATH=D:/Qt/Tools/mingw810_64/bin/gcc-ar.exe - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_RANLIB:FILEPATH=D:/Qt/Tools/mingw810_64/bin/gcc-ranlib.exe +CMAKE_CXX_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ //Flags used by the CXX compiler during all build types. CMAKE_CXX_FLAGS:STRING= @@ -64,19 +56,8 @@ CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG //Flags used by the CXX compiler during RELWITHDEBINFO builds. CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG -//Libraries linked by default with all C++ applications. -CMAKE_CXX_STANDARD_LIBRARIES:STRING=-lkernel32 -luser32 -lgdi32 -lwinspool -lshell32 -lole32 -loleaut32 -luuid -lcomdlg32 -ladvapi32 - //C compiler -CMAKE_C_COMPILER:FILEPATH=D:/Qt/Tools/mingw810_64/bin/gcc.exe - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_C_COMPILER_AR:FILEPATH=D:/Qt/Tools/mingw810_64/bin/gcc-ar.exe - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_C_COMPILER_RANLIB:FILEPATH=D:/Qt/Tools/mingw810_64/bin/gcc-ranlib.exe +CMAKE_C_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc //Flags used by the C compiler during all build types. CMAKE_C_FLAGS:STRING= @@ -93,11 +74,8 @@ CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG //Flags used by the C compiler during RELWITHDEBINFO builds. CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG -//Libraries linked by default with all C applications. -CMAKE_C_STANDARD_LIBRARIES:STRING=-lkernel32 -luser32 -lgdi32 -lwinspool -lshell32 -lole32 -loleaut32 -luuid -lcomdlg32 -ladvapi32 - //Path to a program. -CMAKE_DLLTOOL:FILEPATH=D:/Qt/Tools/mingw810_64/bin/dlltool.exe +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND //Flags used by the linker during all build types. CMAKE_EXE_LINKER_FLAGS:STRING= @@ -114,17 +92,20 @@ CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= //Flags used by the linker during RELWITHDEBINFO builds. CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= -//Convert GNU import libraries to MS format (requires Visual Studio) -CMAKE_GNUtoMS:BOOL=OFF +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL= + +//Path to a program. +CMAKE_INSTALL_NAME_TOOL:FILEPATH=/usr/bin/install_name_tool //Install path prefix, prepended onto install directories. -CMAKE_INSTALL_PREFIX:PATH=C:/Program Files (x86)/read_IMU +CMAKE_INSTALL_PREFIX:PATH=/usr/local //Path to a program. -CMAKE_LINKER:FILEPATH=D:/Qt/Tools/mingw810_64/bin/ld.exe +CMAKE_LINKER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld //Path to a program. -CMAKE_MAKE_PROGRAM:FILEPATH=D:/Qt/Tools/mingw810_64/bin/mingw32-make.exe +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make //Flags used by the linker during the creation of modules during // all build types. @@ -147,13 +128,24 @@ CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= //Path to a program. -CMAKE_NM:FILEPATH=D:/Qt/Tools/mingw810_64/bin/nm.exe +CMAKE_NM:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/nm //Path to a program. -CMAKE_OBJCOPY:FILEPATH=D:/Qt/Tools/mingw810_64/bin/objcopy.exe +CMAKE_OBJCOPY:FILEPATH=CMAKE_OBJCOPY-NOTFOUND //Path to a program. -CMAKE_OBJDUMP:FILEPATH=D:/Qt/Tools/mingw810_64/bin/objdump.exe +CMAKE_OBJDUMP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump + +//Build architectures for OSX +CMAKE_OSX_ARCHITECTURES:STRING= + +//Minimum OS X version to target for deployment (at runtime); newer +// APIs weak linked. Set to empty string for default value. +CMAKE_OSX_DEPLOYMENT_TARGET:STRING= + +//The product will be built against the headers and libraries located +// inside the indicated SDK. +CMAKE_OSX_SYSROOT:PATH=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk //Value Computed by CMake CMAKE_PROJECT_DESCRIPTION:STATIC= @@ -165,28 +157,10 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC= CMAKE_PROJECT_NAME:STATIC=read_IMU //Path to a program. -CMAKE_RANLIB:FILEPATH=D:/Qt/Tools/mingw810_64/bin/ranlib.exe - -//RC compiler -CMAKE_RC_COMPILER:FILEPATH=D:/Qt/Tools/mingw810_64/bin/windres.exe - -//Flags for Windows Resource Compiler during all build types. -CMAKE_RC_FLAGS:STRING= - -//Flags for Windows Resource Compiler during DEBUG builds. -CMAKE_RC_FLAGS_DEBUG:STRING= - -//Flags for Windows Resource Compiler during MINSIZEREL builds. -CMAKE_RC_FLAGS_MINSIZEREL:STRING= - -//Flags for Windows Resource Compiler during RELEASE builds. -CMAKE_RC_FLAGS_RELEASE:STRING= - -//Flags for Windows Resource Compiler during RELWITHDEBINFO builds. -CMAKE_RC_FLAGS_RELWITHDEBINFO:STRING= +CMAKE_RANLIB:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib //Path to a program. -CMAKE_READELF:FILEPATH=D:/Qt/Tools/mingw810_64/bin/readelf.exe +CMAKE_READELF:FILEPATH=CMAKE_READELF-NOTFOUND //Flags used by the linker during the creation of shared libraries // during all build types. @@ -236,7 +210,7 @@ CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= //Path to a program. -CMAKE_STRIP:FILEPATH=D:/Qt/Tools/mingw810_64/bin/strip.exe +CMAKE_STRIP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/strip //If this value is on, makefiles will be generated without the // .SILENT directive, and all commands will be echoed to the console @@ -244,26 +218,20 @@ CMAKE_STRIP:FILEPATH=D:/Qt/Tools/mingw810_64/bin/strip.exe // Studio IDE projects all commands are done without /nologo. CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE -//The directory containing a CMake configuration file for Qt5Core. -Qt5Core_DIR:PATH=D:/Qt/5.15.2/mingw81_64/lib/cmake/Qt5Core - -//The directory containing a CMake configuration file for Qt5Gui. -Qt5Gui_DIR:PATH=D:/Qt/5.15.2/mingw81_64/lib/cmake/Qt5Gui - -//The directory containing a CMake configuration file for Qt5Widgets. -Qt5Widgets_DIR:PATH=D:/Qt/5.15.2/mingw81_64/lib/cmake/Qt5Widgets +//Path to a program. +ProcessorCount_cmd_sysctl:FILEPATH=/usr/sbin/sysctl //The directory containing a CMake configuration file for Qt5. -Qt5_DIR:PATH=D:/Qt/5.15.2/mingw81_64/lib/cmake/Qt5 +Qt5_DIR:PATH=Qt5_DIR-NOTFOUND //Value Computed by CMake -read_IMU_BINARY_DIR:STATIC=D:/GNSSINS/read_IMU/cmake-build-debug +read_IMU_BINARY_DIR:STATIC=/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug //Value Computed by CMake read_IMU_IS_TOP_LEVEL:STATIC=ON //Value Computed by CMake -read_IMU_SOURCE_DIR:STATIC=D:/GNSSINS/read_IMU +read_IMU_SOURCE_DIR:STATIC=/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU ######################## @@ -275,7 +243,7 @@ CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_AR CMAKE_AR-ADVANCED:INTERNAL=1 //This is the directory where this CMakeCache.txt was created -CMAKE_CACHEFILE_DIR:INTERNAL=d:/GNSSINS/read_IMU/cmake-build-debug +CMAKE_CACHEFILE_DIR:INTERNAL=/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug //Major version of cmake used to create the current loaded cache CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 //Minor version of cmake used to create the current loaded cache @@ -285,17 +253,13 @@ CMAKE_CACHE_PATCH_VERSION:INTERNAL=3 //ADVANCED property for variable: CMAKE_COLOR_MAKEFILE CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1 //Path to CMake executable. -CMAKE_COMMAND:INTERNAL=D:/Program Files/JetBrains/CLion 2022.1/bin/cmake/win/bin/cmake.exe +CMAKE_COMMAND:INTERNAL=/Applications/CLion.app/Contents/bin/cmake/mac/bin/cmake //Path to cpack program executable. -CMAKE_CPACK_COMMAND:INTERNAL=D:/Program Files/JetBrains/CLion 2022.1/bin/cmake/win/bin/cpack.exe +CMAKE_CPACK_COMMAND:INTERNAL=/Applications/CLion.app/Contents/bin/cmake/mac/bin/cpack //Path to ctest program executable. -CMAKE_CTEST_COMMAND:INTERNAL=D:/Program Files/JetBrains/CLion 2022.1/bin/cmake/win/bin/ctest.exe +CMAKE_CTEST_COMMAND:INTERNAL=/Applications/CLion.app/Contents/bin/cmake/mac/bin/ctest //ADVANCED property for variable: CMAKE_CXX_COMPILER CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_COMPILER_AR -CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB -CMAKE_CXX_COMPILER_RANLIB-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG @@ -306,14 +270,8 @@ CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_STANDARD_LIBRARIES -CMAKE_CXX_STANDARD_LIBRARIES-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_C_COMPILER CMAKE_C_COMPILER-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_COMPILER_AR -CMAKE_C_COMPILER_AR-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_COMPILER_RANLIB -CMAKE_C_COMPILER_RANLIB-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_C_FLAGS CMAKE_C_FLAGS-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_C_FLAGS_DEBUG @@ -324,12 +282,10 @@ CMAKE_C_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_STANDARD_LIBRARIES -CMAKE_C_STANDARD_LIBRARIES-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_DLLTOOL CMAKE_DLLTOOL-ADVANCED:INTERNAL=1 //Executable file format -CMAKE_EXECUTABLE_FORMAT:INTERNAL=Unknown +CMAKE_EXECUTABLE_FORMAT:INTERNAL=MACHO //ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG @@ -340,18 +296,20 @@ CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS +CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1 //Name of external makefile project generator. 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short;__UINT_FAST16_MAX__;65535;__UINT_FAST16_FMTo__;"ho";__UINT_FAST16_FMTu__;"hu";__UINT_FAST16_FMTx__;"hx";__UINT_FAST16_FMTX__;"hX";__INT_FAST32_TYPE__;int;__INT_FAST32_MAX__;2147483647;__INT_FAST32_FMTd__;"d";__INT_FAST32_FMTi__;"i";__UINT_FAST32_TYPE__;unsigned int;__UINT_FAST32_MAX__;4294967295U;__UINT_FAST32_FMTo__;"o";__UINT_FAST32_FMTu__;"u";__UINT_FAST32_FMTx__;"x";__UINT_FAST32_FMTX__;"X";__INT_FAST64_TYPE__;long long int;__INT_FAST64_MAX__;9223372036854775807LL;__INT_FAST64_FMTd__;"lld";__INT_FAST64_FMTi__;"lli";__UINT_FAST64_TYPE__;long long unsigned int;__UINT_FAST64_MAX__;18446744073709551615ULL;__UINT_FAST64_FMTo__;"llo";__UINT_FAST64_FMTu__;"llu";__UINT_FAST64_FMTx__;"llx";__UINT_FAST64_FMTX__;"llX";__USER_LABEL_PREFIX__;_;__FINITE_MATH_ONLY__;0;__GNUC_STDC_INLINE__;1;__GCC_ATOMIC_TEST_AND_SET_TRUEVAL;1;__CLANG_ATOMIC_BOOL_LOCK_FREE;2;__CLANG_ATOMIC_CHAR_LOCK_FREE;2;__CLANG_ATOMIC_CHAR16_T_LOCK_FREE;2;__CLANG_ATOMIC_CHAR32_T_LOCK_FREE;2;__CLANG_ATOMIC_WCHAR_T_LOCK_FREE;2;__CLANG_ATOMIC_SHORT_LOCK_FREE;2;__CLANG_ATOMIC_INT_LOCK_FREE;2;__CLANG_ATOMIC_LONG_LOCK_FREE;2;__CLANG_ATOMIC_LLONG_LOCK_FREE;2;__CLANG_ATOMIC_POINTER_LOCK_FREE;2;__GCC_ATOMIC_BOOL_LOCK_FREE;2;__GCC_ATOMIC_CHAR_LOCK_FREE;2;__GCC_ATOMIC_CHAR16_T_LOCK_FREE;2;__GCC_ATOMIC_CHAR32_T_LOCK_FREE;2;__GCC_ATOMIC_WCHAR_T_LOCK_FREE;2;__GCC_ATOMIC_SHORT_LOCK_FREE;2;__GCC_ATOMIC_INT_LOCK_FREE;2;__GCC_ATOMIC_LONG_LOCK_FREE;2;__GCC_ATOMIC_LLONG_LOCK_FREE;2;__GCC_ATOMIC_POINTER_LOCK_FREE;2;__NO_INLINE__;1;__PIC__;2;__pic__;2;__FLT_EVAL_METHOD__;0;__FLT_RADIX__;2;__DECIMAL_DIG__;__LDBL_DECIMAL_DIG__;__SSP__;1;__nonnull;_Nonnull;__null_unspecified;_Null_unspecified;__nullable;_Nullable;__AARCH64EL__;1;__aarch64__;1;_LP64;1;__LP64__;1;__AARCH64_CMODEL_SMALL__;1;__ARM_ACLE;200;__ARM_ARCH;8;__ARM_ARCH_PROFILE;'A';__ARM_64BIT_STATE;1;__ARM_PCS_AAPCS64;1;__ARM_ARCH_ISA_A64;1;__ARM_FEATURE_CLZ;1;__ARM_FEATURE_FMA;1;__ARM_FEATURE_LDREX;0xF;__ARM_FEATURE_IDIV;1;__ARM_FEATURE_DIV;1;__ARM_FEATURE_NUMERIC_MAXMIN;1;__ARM_FEATURE_DIRECTED_ROUNDING;1;__ARM_ALIGN_MAX_STACK_PWR;4;__ARM_FP;0xE;__ARM_FP16_FORMAT_IEEE;1;__ARM_FP16_ARGS;1;__ARM_SIZEOF_WCHAR_T;4;__ARM_SIZEOF_MINIMAL_ENUM;4;__ARM_NEON;1;__ARM_NEON_FP;0xE;__ARM_FEATURE_CRC32;1;__ARM_FEATURE_CRYPTO;1;__ARM_FEATURE_AES;1;__ARM_FEATURE_SHA2;1;__ARM_FEATURE_SHA3;1;__ARM_FEATURE_SHA512;1;__ARM_FEATURE_SM3;1;__ARM_FEATURE_SM4;1;__ARM_FEATURE_UNALIGNED;1;__ARM_FEATURE_FP16_VECTOR_ARITHMETIC;1;__ARM_FEATURE_FP16_SCALAR_ARITHMETIC;1;__ARM_FEATURE_DOTPROD;1;__ARM_FEATURE_ATOMICS;1;__ARM_FEATURE_FP16_FML;1;__ARM_FEATURE_FRINT;1;__ARM_ARCH_8_3__;1;__ARM_FEATURE_COMPLEX;1;__ARM_FEATURE_JCVT;1;__ARM_FEATURE_QRDMX;1;__ARM_FEATURE_ATOMICS;1;__ARM_FEATURE_CRC32;1;__ARM_ARCH_8_4__;1;__ARM_ARCH_8_5__;1;__GCC_HAVE_SYNC_COMPARE_AND_SWAP_1;1;__GCC_HAVE_SYNC_COMPARE_AND_SWAP_2;1;__GCC_HAVE_SYNC_COMPARE_AND_SWAP_4;1;__GCC_HAVE_SYNC_COMPARE_AND_SWAP_8;1;__AARCH64_SIMD__;1;__ARM64_ARCH_8__;1;__ARM_NEON__;1;__LITTLE_ENDIAN__;1;__REGISTER_PREFIX__; 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(clang-1400.0.29.102)";__OBJC_BOOL_IS_BOOL;1;__cpp_rtti;199711L;__cpp_exceptions;199711L;__cpp_threadsafe_static_init;200806L;__cpp_impl_destroying_delete;201806L;__CONSTANT_CFSTRINGS__;1;__block;__attribute__((__blocks__(byref)));__BLOCKS__;1;__EXCEPTIONS;1;__GXX_RTTI;1;__DEPRECATED;1;__private_extern__;extern;__clang_literal_encoding__;"UTF-8";__clang_wide_literal_encoding__;"UTF-32";__ORDER_LITTLE_ENDIAN__;1234;__ORDER_BIG_ENDIAN__;4321;__ORDER_PDP_ENDIAN__;3412;__BYTE_ORDER__;__ORDER_LITTLE_ENDIAN__;__LITTLE_ENDIAN__;1;_LP64;1;__LP64__;1;__CHAR_BIT__;8;__SCHAR_MAX__;127;__SHRT_MAX__;32767;__INT_MAX__;2147483647;__LONG_MAX__;9223372036854775807L;__LONG_LONG_MAX__;9223372036854775807LL;__WCHAR_MAX__;2147483647;__WINT_MAX__;2147483647;__INTMAX_MAX__;9223372036854775807L;__SIZE_MAX__;18446744073709551615UL;__UINTMAX_MAX__;18446744073709551615UL;__PTRDIFF_MAX__;9223372036854775807L;__INTPTR_MAX__;9223372036854775807L;__UINTPTR_MAX__;18446744073709551615UL;__SIZEOF_DOUBLE__;8;__SIZEOF_FLOAT__;4;__SIZEOF_INT__;4;__SIZEOF_LONG__;8;__SIZEOF_LONG_DOUBLE__;8;__SIZEOF_LONG_LONG__;8;__SIZEOF_POINTER__;8;__SIZEOF_SHORT__;2;__SIZEOF_PTRDIFF_T__;8;__SIZEOF_SIZE_T__;8;__SIZEOF_WCHAR_T__;4;__SIZEOF_WINT_T__;4;__SIZEOF_INT128__;16;__INTMAX_TYPE__;long 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char;__INT8_FMTd__;"hhd";__INT8_FMTi__;"hhi";__INT8_C_SUFFIX__; ;__INT16_TYPE__;short;__INT16_FMTd__;"hd";__INT16_FMTi__;"hi";__INT16_C_SUFFIX__; ;__INT32_TYPE__;int;__INT32_FMTd__;"d";__INT32_FMTi__;"i";__INT32_C_SUFFIX__; ;__INT64_TYPE__;long long int;__INT64_FMTd__;"lld";__INT64_FMTi__;"lli";__INT64_C_SUFFIX__;LL;__UINT8_TYPE__;unsigned char;__UINT8_FMTo__;"hho";__UINT8_FMTu__;"hhu";__UINT8_FMTx__;"hhx";__UINT8_FMTX__;"hhX";__UINT8_C_SUFFIX__; ;__UINT8_MAX__;255;__INT8_MAX__;127;__UINT16_TYPE__;unsigned short;__UINT16_FMTo__;"ho";__UINT16_FMTu__;"hu";__UINT16_FMTx__;"hx";__UINT16_FMTX__;"hX";__UINT16_C_SUFFIX__; ;__UINT16_MAX__;65535;__INT16_MAX__;32767;__UINT32_TYPE__;unsigned int;__UINT32_FMTo__;"o";__UINT32_FMTu__;"u";__UINT32_FMTx__;"x";__UINT32_FMTX__;"X";__UINT32_C_SUFFIX__;U;__UINT32_MAX__;4294967295U;__INT32_MAX__;2147483647;__UINT64_TYPE__;long long unsigned int;__UINT64_FMTo__;"llo";__UINT64_FMTu__;"llu";__UINT64_FMTx__;"llx";__UINT64_FMTX__;"llX";__UINT64_C_SUFFIX__;ULL;__UINT64_MAX__;18446744073709551615ULL;__INT64_MAX__;9223372036854775807LL;__INT_LEAST8_TYPE__;signed char;__INT_LEAST8_MAX__;127;__INT_LEAST8_FMTd__;"hhd";__INT_LEAST8_FMTi__;"hhi";__UINT_LEAST8_TYPE__;unsigned char;__UINT_LEAST8_MAX__;255;__UINT_LEAST8_FMTo__;"hho";__UINT_LEAST8_FMTu__;"hhu";__UINT_LEAST8_FMTx__;"hhx";__UINT_LEAST8_FMTX__;"hhX";__INT_LEAST16_TYPE__;short;__INT_LEAST16_MAX__;32767;__INT_LEAST16_FMTd__;"hd";__INT_LEAST16_FMTi__;"hi";__UINT_LEAST16_TYPE__;unsigned short;__UINT_LEAST16_MAX__;65535;__UINT_LEAST16_FMTo__;"ho";__UINT_LEAST16_FMTu__;"hu";__UINT_LEAST16_FMTx__;"hx";__UINT_LEAST16_FMTX__;"hX";__INT_LEAST32_TYPE__;int;__INT_LEAST32_MAX__;2147483647;__INT_LEAST32_FMTd__;"d";__INT_LEAST32_FMTi__;"i";__UINT_LEAST32_TYPE__;unsigned int;__UINT_LEAST32_MAX__;4294967295U;__UINT_LEAST32_FMTo__;"o";__UINT_LEAST32_FMTu__;"u";__UINT_LEAST32_FMTx__;"x";__UINT_LEAST32_FMTX__;"X";__INT_LEAST64_TYPE__;long long int;__INT_LEAST64_MAX__;9223372036854775807LL;__INT_LEAST64_FMTd__;"lld";__INT_LEAST64_FMTi__;"lli";__UINT_LEAST64_TYPE__;long long unsigned int;__UINT_LEAST64_MAX__;18446744073709551615ULL;__UINT_LEAST64_FMTo__;"llo";__UINT_LEAST64_FMTu__;"llu";__UINT_LEAST64_FMTx__;"llx";__UINT_LEAST64_FMTX__;"llX";__INT_FAST8_TYPE__;signed char;__INT_FAST8_MAX__;127;__INT_FAST8_FMTd__;"hhd";__INT_FAST8_FMTi__;"hhi";__UINT_FAST8_TYPE__;unsigned char;__UINT_FAST8_MAX__;255;__UINT_FAST8_FMTo__;"hho";__UINT_FAST8_FMTu__;"hhu";__UINT_FAST8_FMTx__;"hhx";__UINT_FAST8_FMTX__;"hhX";__INT_FAST16_TYPE__;short;__INT_FAST16_MAX__;32767;__INT_FAST16_FMTd__;"hd";__INT_FAST16_FMTi__;"hi";__UINT_FAST16_TYPE__;unsigned short;__UINT_FAST16_MAX__;65535;__UINT_FAST16_FMTo__;"ho";__UINT_FAST16_FMTu__;"hu";__UINT_FAST16_FMTx__;"hx";__UINT_FAST16_FMTX__;"hX";__INT_FAST32_TYPE__;int;__INT_FAST32_MAX__;2147483647;__INT_FAST32_FMTd__;"d";__INT_FAST32_FMTi__;"i";__UINT_FAST32_TYPE__;unsigned int;__UINT_FAST32_MAX__;4294967295U;__UINT_FAST32_FMTo__;"o";__UINT_FAST32_FMTu__;"u";__UINT_FAST32_FMTx__;"x";__UINT_FAST32_FMTX__;"X";__INT_FAST64_TYPE__;long long int;__INT_FAST64_MAX__;9223372036854775807LL;__INT_FAST64_FMTd__;"lld";__INT_FAST64_FMTi__;"lli";__UINT_FAST64_TYPE__;long long unsigned 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a/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-environment.txt b/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-environment.txt index 38949b4..270d93c 100644 --- a/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-environment.txt +++ b/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-environment.txt @@ -1,4 +1,3 @@ -ToolSet: w64 6.0 (local)@D:\Qt\Tools\mingw810_64 -Options: +ToolSet: 1.0 (local)Options: Options: \ No newline at end of file diff --git a/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-log.txt b/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-log.txt index 8b1770e..289317b 100644 --- a/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-log.txt +++ b/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/clion-log.txt @@ -1,4 +1,32 @@ -"D:\Program Files\JetBrains\CLion 2022.1\bin\cmake\win\bin\cmake.exe" -DCMAKE_BUILD_TYPE=Debug -G "CodeBlocks - MinGW Makefiles" -S D:\GNSSINS\read_IMU -B D:\GNSSINS\read_IMU\cmake-build-debug --- Configuring done --- Generating done --- Build files have been written to: D:/GNSSINS/read_IMU/cmake-build-debug +/Applications/CLion.app/Contents/bin/cmake/mac/bin/cmake -DCMAKE_BUILD_TYPE=Debug -G "CodeBlocks - Unix Makefiles" -S /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU -B /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug +-- The C compiler identification is AppleClang 14.0.0.14000029 +-- The CXX compiler identification is AppleClang 14.0.0.14000029 +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc - skipped +-- Detecting C compile features +-- Detecting C compile features - done +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ - skipped +-- Detecting CXX compile features +-- Detecting CXX compile features - done +CMake Error at CMakeLists.txt:20 (find_package): + By not providing "FindQt5.cmake" in CMAKE_MODULE_PATH this project has + asked CMake to find a package configuration file provided by "Qt5", but + CMake did not find one. + + Could not find a package configuration file provided by "Qt5" with any of + the following names: + + Qt5Config.cmake + qt5-config.cmake + + Add the installation prefix of "Qt5" to CMAKE_PREFIX_PATH or set "Qt5_DIR" + to a directory containing one of the above files. If "Qt5" provides a + separate development package or SDK, be sure it has been installed. + + +-- Configuring incomplete, errors occurred! +See also "/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/CMakeOutput.log". +See also "/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/CMakeError.log". diff --git a/README.md b/README.md index 5398749..8e8c019 100644 --- a/README.md +++ b/README.md @@ -8,3 +8,54 @@ - Qt version 5.15 +## 1.1 使用说明 + +在1中输入rover.log文件，并选择输出路径与相应的电流层模型即可得到IMU.csv、PVT.csv、Sat.csv、r.nav、r.obs五个文件。 + +电离层模型： + +- Single：单频模型 +- IF_model：无电离层模型 +- MIX：混合模型（针对单频观测使用Single模型，多频观测使用IF_model） + +![WechatIMG142](/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/img/WechatIMG142.jpeg) + +PS：程序写的比较简单，在遇到庞大的观测文件时执行效率比较低，感兴趣的同学可以把源码下下来修改一下，我估计是IO那块占用比较多时间。 + +# 2 TC_Nav_Zjut_post + +本程序基于RTKlib b34f 和 武汉大学i2nav开源的程序开发，在此特别RTKlib的维护人员和武汉大学i2nav团队。 + +通过QT程序,我们得到5个文件。在TC_Nav_Zjut_post程序main函数中，可以将程序的路径添加到程序中如图。 + + ![WechatIMG143](/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/img/WechatIMG143.jpeg) + + + +## 2.1 配置conf文件 + +如图点开1中的Tc.conf文件，找到outstr1-path，修改输出路径即可。 + +![WechatIMG144](/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/img/WechatIMG144.jpeg) + +## 2.2 成果与进展 + +目前C语言程序已经完成基本开发 + +- 仅支持单频观测 +- 基于伪距与伪距率紧组合导航程序 +- NHC约束 +- ZVU +- ZARU +- 加入粗差检测outlier +- 鲁棒因子 + +> 当前问题，融合时刻姿态修正不正确，导致NHC无法正常发挥作用。 + +![截屏2022-11-08 18.47.17](/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/img/截屏2022-11-08 18.47.17.png) + +630_1数据集在城市道路下结果 + +![截屏2022-11-08 19.39.50](/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/img/截屏2022-11-08 19.39.50.png) + +630_3数据集在高架桥路段下结果