提交后处理C语言版本
Readme 更新
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ZhiQiang_Yang98
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@ -38,7 +38,7 @@ TC_KF_config.accel_noise_PSD = (0.08*micro_g_to_meters_per_second_squared)^2;
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% Accelerometer bias random walk PSD (m^2 s^-5)
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TC_KF_config.accel_bias_PSD = 2*10E-5;
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% Gyro bias random walk PSD (rad^2/s^3)
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TC_KF_config.gyro_bias_PSD = (1.4556e-05)^2;
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TC_KF_config.gyro_bias_PSD = (1.4556e-05);
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% Receiver clock frequency-drift PSD (m^2/s^3)
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TC_KF_config.clock_freq_PSD = 1;
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@ -37,9 +37,9 @@ old_est_v_ea_e=[pos.ecef_vX(index_ini_pos);pos.ecef_vY(index_ini_pos);pos.ecef_v
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[roll, pitch, ~] = COARSE_ALIGN(meas_f_ib_b, meas_omega_ib_b, 1000, IMU_config);
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init_pos = [old_est_L_a;old_est_lambda_a;old_est_h_a];
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% 取IMU增量作为输入
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[att0, attk] = alignWahba([meas_omega_ib_b,meas_f_ib_b]*0.01, init_pos, 0);
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head = att0(3);
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attitude_ini = [0.08 , 0.2 , head];
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% [att0, attk] = alignWahba([meas_omega_ib_b,meas_f_ib_b]*0.01, init_pos, 0);
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% head = att0(3);
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attitude_ini = [0.08 , 0.2 , 0];
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%% 提供初始位置与速度
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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
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@ -1,19 +1,19 @@
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"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
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/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
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Qt5Config.cmake
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qt5-config.cmake
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separate development package or SDK, be sure it has been installed.
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-- Configuring incomplete, errors occurred!
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See also "/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/CMakeOutput.log".
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See also "/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/QT/Win/read_IMU/cmake-build-debug/CMakeFiles/CMakeError.log".
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51
README.md
51
README.md
@ -8,3 +8,54 @@
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- 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。
|
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||||
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）
|
||||
|
||||
|
||||
|
||||
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。
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 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。
|
||||
|
||||
|
||||
|
||||
## 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。
|
||||
|
||||
|
||||
|
||||
630_1数据集在城市道路下结果
|
||||
|
||||
|
||||
|
||||
630_3数据集在高架桥路段下结果
|
||||
|
||||
Loading…
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Block a user