Awesome Open Source
Awesome Open Source

. PPP/MEMS/[D].,2020.

pdf: PPP/MEMS/


  • VIO.

  • glog
  • Eigen
  • OpenCV 3.4
  • Ceres 1.14.0

dev Multi-Sensor Fusionsubmodulestools,clonetools

git checkout -b dev origin/dev
git submodule init
git submodule update

,

mkdir build && cd build 
cmake .. && make -j3
./mscnav_bin ${configure_file} ${log_dir}

|
-|- config | doc | exec | include | script | src | submodules | tools test | tools | example_process |

  • GNSS/INS
  • GNSS/INS/Camera
  • VIOGNSS


  • GPS+BDS

vio

vio:770m
vio
vio

[m,deg]
-|North|East|Down||Roll|Pitch|Heading :-:|:-:|:-:|:-:|:-:|:-:|:-:|:-: |-1416.3|-3412.4|-40.6|479.8%|1.300|1.400|1.072 /|-2.594|4.209|1.578|0.67%|0.104|0.106|0.319

GNSS-INS-Camera

[m]
PPPPPP/INS GNSS-INS-camera
[deg]
PPP/INS GNSS-INS-camera
[m,deg]
- H V 3D Roll Pitch Heading
PPP 1.970 4.429 4.847
PPP/INS 1.658 3.014 3.439 29.04% 0.132 0.198 0.661
PPP/INS/ 1.529 2.255 2.725 43.79% 0.131 0.169 0.389 41.10%

GNSS PPP/INS

RTKGNSS,PPPPPP


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