fuxiaoer/KF-GINS
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set the output files as text-format files

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This commit is contained in:
liqiang 2023-03-24 19:20:52 +08:00
parent efc19b2a69
commit 079e59ce3e
3 changed files with 6 additions and 6 deletions
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4
README.md
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@ -196,7 +196,7 @@ For more details on the algorithm, please refer to [惯性导航原理与GNSS/IN
| 6~8 | 3-D velocity (north-east-down) | $m/s$ | | 6~8 | 3-D velocity (north-east-down) | $m/s$ |
| 9~11 | attitude angles (roll-pitch-yaw) | $deg$ | | 9~11 | attitude angles (roll-pitch-yaw) | $deg$ |
- The IMU error binary file format(all double data) is defined as: - The IMU error text file format(all double data) is defined as:
| Columns | Data description | Units | | Columns | Data description | Units |
| ------- |-----------------------------------------| ------- | | ------- |-----------------------------------------| ------- |
@ -206,7 +206,7 @@ For more details on the algorithm, please refer to [惯性导航原理与GNSS/IN
| 8~10 | X-Y-Z axes gyroscope scale factors | $ppm$ | | 8~10 | X-Y-Z axes gyroscope scale factors | $ppm$ |
| 11~13 | X-Y-Z axes accelerometer scale factors | $ppm$ |f | 11~13 | X-Y-Z axes accelerometer scale factors | $ppm$ |f
- The state STD binary file format(all double data) is defined as: - The state STD text file format(all double data) is defined as:
| Columns | Data description | Units | | Columns | Data description | Units |
| ------- |-------------------------------------------|--------| | ------- |-------------------------------------------|--------|

4
README_CN.md
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@ -195,7 +195,7 @@ sudo apt-get install gdb
| 6~8 | 三维速度 (北向-东向-地向) | $m/s$ | | 6~8 | 三维速度 (北向-东向-地向) | $m/s$ |
| 9~11 | 姿态角 (横滚-俯仰-航向) | $deg$ | | 9~11 | 姿态角 (横滚-俯仰-航向) | $deg$ |
- IMU误差文件二进制文件格式(均为double类型)定义为: - IMU误差文件文本文件格式(均为double类型)定义为:
| 列数 | 数据描述 | 单位 | | 列数 | 数据描述 | 单位 |
| ----- | ------------------------ | ------- | | ----- | ------------------------ | ------- |
@ -205,7 +205,7 @@ sudo apt-get install gdb
| 8~10 | X-Y-Z轴 陀螺仪比例因子 | $ppm$ | | 8~10 | X-Y-Z轴 陀螺仪比例因子 | $ppm$ |
| 11~13 | X-Y-Z轴 加速度计比例因子 | $ppm$ | | 11~13 | X-Y-Z轴 加速度计比例因子 | $ppm$ |
- 系统状态标准差二进制文件格式(均为double类型)定义为: - 系统状态标准差文本文件格式(均为double类型)定义为:
| 列数 | 数据描述 | 单位 | | 列数 | 数据描述 | 单位 |
| ----- |--------------------| ------- | | ----- |--------------------| ------- |

4
src/kf_gins.cpp
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@ -109,8 +109,8 @@ int main(int argc, char *argv[]) {
// stdfile: time(1) + pva_std(9) + imubias_std(6) + imuscale_std(6) = 22 // stdfile: time(1) + pva_std(9) + imubias_std(6) + imuscale_std(6) = 22
int nav_columns = 11, imuerr_columns = 13, std_columns = 22; int nav_columns = 11, imuerr_columns = 13, std_columns = 22;
FileSaver navfile(outputpath + "/KF_GINS_Navresult.nav", nav_columns, FileSaver::TEXT); FileSaver navfile(outputpath + "/KF_GINS_Navresult.nav", nav_columns, FileSaver::TEXT);
FileSaver imuerrfile(outputpath + "/KF_GINS_IMU_ERR.bin", imuerr_columns, FileSaver::BINARY); FileSaver imuerrfile(outputpath + "/KF_GINS_IMU_ERR.txt", imuerr_columns, FileSaver::TEXT);
FileSaver stdfile(outputpath + "/KF_GINS_STD.bin", std_columns, FileSaver::BINARY); FileSaver stdfile(outputpath + "/KF_GINS_STD.txt", std_columns, FileSaver::TEXT);
// 检查文件是否正确打开 // 检查文件是否正确打开
// check if these files are all opened // check if these files are all opened