readme.md
误差状态卡尔曼滤波器(ESKF)融合IMU与GPS数据
只使用IMU进行积分的结果 | 使用ESKF融合IMU和GPS |
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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 ErrorStateKalmanFilter GPS+IMU》
1. 依赖库
Eigen
sudo apt-get install libeigen3-dev
Yaml
sudo apt-get install libyaml-cpp-dev
Glog
sudo apt-get install libgoogle-glog-dev
2. 编译
cd eskf-gps-imu-fusion
mkdir build
cd build
cmake ..
make
3. 运行
cd eskf-gps-imu-fusion
./build/gps_imu_fusion ./config/config.yaml ./data
4.轨迹显示
执行完./gps_imu_fusion
会生成轨迹文件
cd eskf-gps-imu-fusion/data
python display_path.py
5.误差分析
推荐使用工具: evo
cd eskf-gps-imu-fusion/data
evo_traj tum fused.txt gt.txt gps_measurement.txt -p