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Introduction

A project for GNSS/INS heading angle calibration.

Environment

docker pull xiaokyan/opencalib:v1

Compile

# mkdir build
mkdir -p build && cd build
# build
cmake .. && make

Run example

./bin/run_imu2car ./data/example/ ./output/

# set data range(frames)
./bin/run_imu2car ./data/example/ ./output/ 0 20000

Input

  • <data_file>: contain GNSS/INS pose $(x, y, yaw)$
  • <output_dir>: save output file

Output

  • trajectory.png: vehicle trajectory (x, y)
  • compared_yaw.png: the comparison of yaw angle between imu and the vehicle, which can be used to verify the result roughly

Note

This method can adapt to arbitrary driving routes. However, it is recommended for the vehicle to drive in a straight line for better estimation, as the picture shows below.

data collection

The car-body frame and pose-sensor frame in this program are defined as follows:

reference frame