eskf-gps-imu-fusion-main
所属分类：matlab编程
开发工具：matlab
文件大小：5260KB
下载次数：3
上传日期：2021-04-08 22:02:37
上 传 者：
Hamster_727
说明： 扩展卡尔曼滤波算法对gps和imu进行融合计算
(GPS and IMU are fused by extended Kalman filter algorithm)
文件列表:
3rd (0, 2021-03-15)
3rd\GeographicLib (0, 2021-03-15)
3rd\GeographicLib\CMakeLists.txt (1137, 2021-03-15)
3rd\GeographicLib\include (0, 2021-03-15)
3rd\GeographicLib\include\Geocentric (0, 2021-03-15)
3rd\GeographicLib\include\Geocentric\Config.h (408, 2021-03-15)
3rd\GeographicLib\include\Geocentric\Constants.hpp (16212, 2021-03-15)
3rd\GeographicLib\include\Geocentric\Geocentric.hpp (11118, 2021-03-15)
3rd\GeographicLib\include\Geocentric\LocalCartesian.hpp (9614, 2021-03-15)
3rd\GeographicLib\include\Geocentric\Math.hpp (34552, 2021-03-15)
3rd\GeographicLib\src (0, 2021-03-15)
3rd\GeographicLib\src\Geocentric.cpp (6891, 2021-03-15)
3rd\GeographicLib\src\LocalCartesian.cpp (2044, 2021-03-15)
3rd\GeographicLib\src\Math.cpp (2235, 2021-03-15)
3rd\sophus (0, 2021-03-15)
3rd\sophus\common.hpp (4369, 2021-03-15)
3rd\sophus\example_ensure_handler.cpp (1522, 2021-03-15)
3rd\sophus\rxso3.hpp (22242, 2021-03-15)
3rd\sophus\se2.hpp (19001, 2021-03-15)
3rd\sophus\se3.hpp (21889, 2021-03-15)
3rd\sophus\sim3.hpp (23665, 2021-03-15)
3rd\sophus\so2.hpp (16065, 2021-03-15)
3rd\sophus\so3.hpp (21398, 2021-03-15)
3rd\sophus\test_macros.hpp (5008, 2021-03-15)
3rd\sophus\types.hpp (1593, 2021-03-15)
CMakeLists.txt (989, 2021-03-15)
app (0, 2021-03-15)
app\gps_imu_fusion.cpp (359, 2021-03-15)
cmake (0, 2021-03-15)
cmake\YAML.cmake (178, 2021-03-15)
cmake\eigen.cmake (73, 2021-03-15)
cmake\global_defination.cmake (219, 2021-03-15)
cmake\sophus.cmake (129, 2021-03-15)
config (0, 2021-03-15)
config\config.yaml (306, 2021-03-15)
data (0, 2021-03-15)
data\raw_data (0, 2021-03-15)
data\raw_data\accel-0.csv (3634784, 2021-03-15)
... ...
ESKF融合IMU与GPS数据
绿色轨迹:ground truth
蓝色轨迹:fuse IMU and GPS
红色轨迹:GPS
实现方法请参考我的博客[《【附源码+代码注释】误差状态卡尔曼滤波(error-state Kalman Filter)实现GPS+IMU融合,EKF ESKF GPS+IMU》](https://blog.csdn.net/u011341856/article/details/114262451)
## 1. 依赖库
Eigen
```shell
sudo apt-get install libeigen3-dev
```
Yaml
```shell
sudo apt-get install libyaml-cpp-dev
```
## 2. 编译
```shell
cd eskf-gps-imu-fusion
mkdir build
cd build
cmake ..
make
```
## 3. 运行
```shell
cd eskf-gps-imu-fusion/build
./gps_imu_fusion
```
## 4.轨迹显示
执行完`./gps_imu_fusion`会生成轨迹文件
```shell
cd eskf-gps-imu-fusion/data
evo_traj kitti fused.txt gt.txt measured.txt -p
```
> 需要安装evo,可以参考我的博客中的介绍
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