From 7b92124871ecaba5b3b6687fd7b7387de3c855ac Mon Sep 17 00:00:00 2001 From: liqiang Date: Sun, 30 Oct 2022 15:27:15 +0800 Subject: [PATCH] fix a bug in INS mechanization, correct the typos in comments. --- src/kf-gins/insmech.cpp | 2 +- src/kf_gins.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/kf-gins/insmech.cpp b/src/kf-gins/insmech.cpp index 1bd0c14..7740730 100644 --- a/src/kf-gins/insmech.cpp +++ b/src/kf-gins/insmech.cpp @@ -124,7 +124,7 @@ void INSMech::posUpdate(const PVA &pvapre, PVA &pvacur, const IMU &imupre, const // recompute rmrn, wie_n, wen_n at k-1/2 Eigen::Vector2d rmrn; Eigen::Vector3d wie_n, wen_n; - rmrn = Earth::meridianPrimeVerticalRadius(pvapre.pos(0)); + rmrn = Earth::meridianPrimeVerticalRadius(midpos[0]); wie_n << WGS84_WIE * cos(midpos[0]), 0, -WGS84_WIE * sin(midpos[0]); wen_n << midvel[1] / (rmrn[1] + midpos[2]), -midvel[0] / (rmrn[0] + midpos[2]), -midvel[1] * tan(midpos[0]) / (rmrn[1] + midpos[2]); diff --git a/src/kf_gins.cpp b/src/kf_gins.cpp index 6333427..02e8d43 100644 --- a/src/kf_gins.cpp +++ b/src/kf_gins.cpp @@ -224,7 +224,7 @@ int main(int argc, char *argv[]) { * */ bool loadConfig(YAML::Node &config, GINSOptions &options) { - // 读取初始位置(纬度 经度 高程)、(北向速度 动向速度 垂向速度)、姿态(欧拉角，ZYX旋转顺序, 横滚角、俯仰角、航向角) + // 读取初始位置(纬度 经度 高程)、(北向速度 东向速度 垂向速度)、姿态(欧拉角，ZYX旋转顺序, 横滚角、俯仰角、航向角) // load initial position(latitude longitude altitude) // velocity(speeds in the directions of north, east and down) // attitude(euler angle, ZYX, roll, pitch and yaw)