ESKF融合IMU与GPS数据
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》
Eigen
sudo apt-get install libeigen3-dev
Yaml
sudo apt-get install libyaml-cpp-dev
cd eskf-gps-imu-fusion
mkdir build
cd build
cmake ..
make
cd eskf-gps-imu-fusion/build
./gps_imu_fusion
执行完./gps_imu_fusion
会生成轨迹文件
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