fuxiaoer/KF-GINS
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fix a bug in INS mechanization, correct the typos in comments.

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This commit is contained in:
liqiang 2022-10-30 15:27:15 +08:00
parent eb4bf2c07e
commit 7b92124871
2 changed files with 2 additions and 2 deletions
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2
src/kf-gins/insmech.cpp
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@ -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 // recompute rmrn, wie_n, wen_n at k-1/2
Eigen::Vector2d rmrn; Eigen::Vector2d rmrn;
Eigen::Vector3d wie_n, wen_n; 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]); 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]), wen_n << midvel[1] / (rmrn[1] + midpos[2]), -midvel[0] / (rmrn[0] + midpos[2]),
-midvel[1] * tan(midpos[0]) / (rmrn[1] + midpos[2]); -midvel[1] * tan(midpos[0]) / (rmrn[1] + midpos[2]);

2
src/kf_gins.cpp
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@ -224,7 +224,7 @@ int main(int argc, char *argv[]) {
* */ * */
bool loadConfig(YAML::Node &config, GINSOptions &options) { 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) // load initial position(latitude longitude altitude)
// velocity(speeds in the directions of north, east and down) // velocity(speeds in the directions of north, east and down)
// attitude(euler angle, ZYX, roll, pitch and yaw) // attitude(euler angle, ZYX, roll, pitch and yaw)