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View Code? Open in Web Editor NEW基于的matlab导航科学计算库
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请问有imu+uwb融合有翻译成python的版本吗？
我自己尝试将example_eskf_uwb_imu项目从matlab转化成python，并使用自己的数据集进行绘图，结果发现，在matlab融合的不错但是在python上的融合定位结果比纯uwb定位多了最大两米的轨迹偏移（虽然两者大致轨迹形状一致）。我在排查时发现python在计算P = F @ P @ F.T + G @ block_diag(Q1, Q2) @ G.T时，矩阵P有部分元素与matlab有小数精度上的误差（通常小于0.00001）。我确定除了P值计算以及与P值相关的计算以外，其他代码与变量初始值都与matlab一致。
想看看有没有大佬尝试做过python版本
关于缺少函数ch_qintg的问题
您好，我下载了开源代码并运行了ahrs_test.m，也添加lib到路径中，却依然报错“函数或变量 'ch_qintg' 无法识别。”请问您能上传这个函数吗？
以及我运行了UWB与IMU结合的实例画图，为何最终坐标只有实际的运行轨迹，而没有滤波之后的结果？（如下图所示https://imgchr.com/i/r5H1TH
本人是刚开始进行IMU+UWB室内定位项目的学生，看了您的源码之后受益良多，但有以上几个问题希望能得到解答，谢谢！
关于函数或变量 'vnorm' 无法识别的问题
您好，我下载了您的zip代码文件，在运行uwb_imu_fusion_test时，我运行了init.m文件，但仍然提示函数或变量 'vnorm' 无法识别。请问是缺少这个函数吗
请问imu和gps融合的程序有推荐的imu和gps器件吗，这个融合的精度能达到什么精度呢
零偏误差是否应该重新置0
你好!
这里的零偏误差是否应该重新置0? 即在71行增加err_state(4:6)=0;
https://github.com/yandld/nav_matlab/blob/master/library/nav_lib/ahrs_test/ahrs_test.m#L71
谢谢!
关于“MeasureNoiseVariance”这一常量的来源
您好！
在您的IMU_UWB的项目的主程序中有这样一个常量表示的UWB测量噪声的方差：
MeasureNoiseVariance = [2.98e-03, 2.9e-03,1.8e-03, 1.2e-03, 2.4e-03]; %%%% UWB Ranging noise
请问这个值是怎么得到的呢？是在静止的状态下长时间测量吗？
然后，同样是这个项目中，我有点不太理解其引用的gnss_imu_local_tan_example_settings这个函数中所设定的初始值为何是那样，比如加速度计与陀螺仪的噪声、偏置，还有速度位置均设置为100等等，这些也是在之前就已经校准得到的吗？
如果有方便的话劳烦您解决一下我的疑问，谢谢！
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