You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
Hello
First of all, thank you very much for your work.
I encountered such a problem when performing calibration. I collected data on a flat ground and performed uniform circular motion. I found that my roll and pitch calibrations are relatively accurate, but the calibrated data for yaw, x, y, and z deviate relatively large from the actual values. I looked at papers and codes and found that when ground constraints are applied, the vehicle is required to move at a uniform speed. However, the acceleration constraint initially requires variable-speed motion. If it is uniform speed, then the acceleration is 0, and any component of acceleration is 0. Then it will not play a constraining role because no matter what yaw is, the acceleration constraint is always valid. I don't know if my thinking is correct.
How to solve the contradiction between acceleration constraint and ground constraint?
The text was updated successfully, but these errors were encountered:
As you said, if you move at a uniform speed, the acceleration will be zero.
What I meant was that you shouldn't change your motion abruptly to reduce noise. Also, when you get data for your experiment, take an '8' shaped motion, not a circular motion, and you'll have accumulated enough data.
Hello
First of all, thank you very much for your work.
I encountered such a problem when performing calibration. I collected data on a flat ground and performed uniform circular motion. I found that my roll and pitch calibrations are relatively accurate, but the calibrated data for yaw, x, y, and z deviate relatively large from the actual values. I looked at papers and codes and found that when ground constraints are applied, the vehicle is required to move at a uniform speed. However, the acceleration constraint initially requires variable-speed motion. If it is uniform speed, then the acceleration is 0, and any component of acceleration is 0. Then it will not play a constraining role because no matter what yaw is, the acceleration constraint is always valid. I don't know if my thinking is correct.
How to solve the contradiction between acceleration constraint and ground constraint?
The text was updated successfully, but these errors were encountered: