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请教关于文档中的noise, 与 vins之间的 noise单位上存在等价转换关系吗 , 对于系统有影响吗？
ob_gins:
arw: 0.24 # deg/sqrt(hr)
vrw: 0.24 # m/s/sqrt(hr)
gbstd: 50.0 # deg/hr
abstd: 250.0 # mGal
corrtime: 1.0 # hr
vins:
#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.1 # accelerometer measurement noise standard deviation.
gyr_n: 0.01 # gyroscope measurement noise standard deviation.
acc_w: 0.001 # accelerometer bias random work noise standard deviation.
gyr_w: 0.0001 # gyroscope bias random work noise standard deviation.

hi, thank you for your sharing,
I'm having some problems when compiling, and I think g++8 should be able to handle that, but if g++ is an older version, what should I do to correct this code for successful build this project

First I build following instruction, while undergoing cmake step, error occurs like :
CMake Error at CMakeLists.txt:41 (find_package):
By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "absl", but
CMake did not find one.

Could not find a package configuration file provided by "absl" with any of
the following names:

 abslConfig.cmake
 absl-config.cmake

Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set

And I run ccmake .. to modify the path of absl to '/home/gary/Source/abseil-cpp/build/'
The ccmake .. dorp error as:
include could not find load file:

 /home/gary/Source/abseil-cpp/build/abslTargets.cmake

Call Stack (most recent call first):
CMakeLists.txt:38 (find_package)

我照着论文，看了源码，主要是preintegration_earth.cc这个文件。但有不清楚的地方，请问residualJacobianPose0，residualJacobianPose1函数内的雅可比矩阵是怎么得到的？还有residualJacobianMix0及residualJacobianMix1内的矩阵。实在没看明白，冒昧请教，请不吝赐教，拜谢。

想请教下在没有gnss观测的时刻，为什么还要固定时间间隔的添加预积分因子？
在两个gnss观测之间，做一个预积分与做多个预积分有什么不同，有什么依据吗
没有gnss全局约束，单靠多个imu预积分不是有累积误差吗？

I am trying to use the library however I run into this problem when using make, can anybody offer some help? Thank you!

__________$ make -j$(nproc)
[ 1%] Built target absl_civil_time
[ 2%] Built target absl_spinlock_wait
[ 3%] Built target absl_log_severity
[ 4%] Built target absl_raw_logging_internal
[ 5%] Built target absl_throw_delegate
[ 8%] Built target absl_base
[ 9%] Built target absl_int128
[ 11%] Built target absl_strings_internal
[ 18%] Built target absl_strings
[ 23%] Built target absl_time_zone
[ 26%] Built target absl_time
[ 30%] Built target absl_str_format_internal
[ 31%] Building CXX object CMakeFiles/ob_gins.dir/src/factors/pose_manifold.cc.o
In file included from ________/OB_GINS/src/factors/pose_manifold.cc:23:
________/OB_GINS/src/factors/pose_manifold.h:28:45: error: expected class-name before ‘{’ token
class PoseManifold : public ceres::Manifold {
^
________/OB_GINS/src/factors/pose_manifold.h:31:9: error: ‘int PoseManifold::AmbientSize() const’ marked ‘override’, but does not override
int AmbientSize() const override;
^~~~~~~~~~~
________/OB_GINS/src/factors/pose_manifold.h:32:9: error: ‘int PoseManifold::TangentSize() const’ marked ‘override’, but does not override
int TangentSize() const override;
^~~~~~~~~~~
________/OB_GINS/src/factors/pose_manifold.h:34:10: error: ‘bool PoseManifold::Plus(const double*, const double*, double*) const’ marked ‘override’, but does not override
bool Plus(const double x, const double delta, double x_plus_delta) const override;
^~~~
________/OB_GINS/src/factors/pose_manifold.h:35:10: error: ‘bool PoseManifold::PlusJacobian(const double, double) const’ marked ‘override’, but does not override
bool PlusJacobian(const double x, double jacobian) const override;
^~~~~~~~~~~~
________/OB_GINS/src/factors/pose_manifold.h:37:10: error: ‘bool PoseManifold::Minus(const double, const double, double) const’ marked ‘override’, but does not override
bool Minus(const double *y, const double x, double y_minus_x) const override;
^~~~~
________/OB_GINS/src/factors/pose_manifold.h:38:10: error: ‘bool PoseManifold::MinusJacobian(const double, double) const’ marked ‘override’, but does not override
bool MinusJacobian(const double *x, double *jacobian) const override;
^~~~~~~~~~~~~
make[2]: *** [CMakeFiles/ob_gins.dir/build.make:63: CMakeFiles/ob_gins.dir/src/factors/pose_manifold.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:653: CMakeFiles/ob_gins.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

WARNING: Logging before InitGoogleLogging() is written to STDERR
W1206 14:23:07.306468 3990 preprocessor.cc:62] Specified options.num_threads: 4 exceeds maximum available from the threading model Ceres was compiled with: 2. Bounding to maximum number available.

In file included from /home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc:32:
/home/YOng/Downloads/OB_GINS-main/src/factors/pose_parameterization.h:30:44: error: invalid use of incomplete type ‘class ceres::LocalParameterization’
class PoseParameterization : public ceres::LocalParameterization {
^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/YOng/Downloads/OB_GINS-main/src/factors/gnss_factor.h:27,
from /home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc:30:
/usr/local/include/ceres/problem.h:56:7: note: forward declaration of ‘class ceres::LocalParameterization’
class LocalParameterization;
^~~~~~~~~~~~~~~~~~~~~
In file included from /home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc:32:
/home/YOng/Downloads/OB_GINS-main/src/factors/pose_parameterization.h:35:10: error: ‘bool PoseParameterization::Plus(const double*, const double*, double*) const’ marked ‘override’, but does not override
bool Plus(const double x, const double delta, double x_plus_delta) const override {
^~~~
/home/YOng/Downloads/OB_GINS-main/src/factors/pose_parameterization.h:52:10: error: ‘bool PoseParameterization::ComputeJacobian(const double, double) const’ marked ‘override’, but does not override
bool ComputeJacobian(const double x, double jacobian) const override {
^~~~~~~~~~~~~~~
/home/YOng/Downloads/OB_GINS-main/src/factors/pose_parameterization.h:60:9: error: ‘int PoseParameterization::GlobalSize() const’ marked ‘override’, but does not override
int GlobalSize() const override {
^~~~~~~~~~
/home/YOng/Downloads/OB_GINS-main/src/factors/pose_parameterization.h:64:9: error: ‘int PoseParameterization::LocalSize() const’ marked ‘override’, but does not override
int LocalSize() const override {
^~~~~~~~~
/home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc: In function ‘int main(int, char)’:
/home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc:311:95: error: cannot convert ‘PoseParameterization’ to ‘ceres::LocalParameterization*’ in initialization
ceres::LocalParameterization parameterization = new (PoseParameterization);
^
/home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc:313:63: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, ceres::LocalParameterization&)’
parameterization);
^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/YOng/Downloads/OB_GINS-main/src/factors/gnss_factor.h:27,
from /home/YOng/Downloads/OB_GINS-main/src/ob_gins.cc:30:
/usr/local/include/ceres/problem.h:261:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
void AddParameterBlock(double* values, int size);
^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:261:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:274:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
void AddParameterBlock(double* values, int size, Manifold* manifold);
^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:274:8: note: no known conversion for argument 3 from ‘ceres::LocalParameterization*’ to ‘ceres::Manifold*’
make[2]: *** [CMakeFiles/ob_gins.dir/build.make:104：CMakeFiles/ob_gins.dir/src/ob_gins.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:83：CMakeFiles/ob_gins.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2

请Dr Tang考虑一下，谢谢。

非常高兴学习这篇代码, 以下有三个问题想请教武大朋友们

1. 请教关于图优化在网站中理论上是非常有利的
   http://www.i2nav.com/index/newListDetail_yw.do?newskind_id=f8990a24cf86440483d7821d9c2975c9&newsinfo_id=e8eee7a6c9314db5b69508f3b4539f33

exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization 关于这篇文章中的比较
以ekf与m2相比, 似乎单纯在gnss-imu融合中, 基于优化的方式没有太多优势？

关于2020这篇文章的差异
https://www.mdpi.com/2072-4292/12/18/3048
这篇似乎推导更以vins为基础去补偿地球自转，柯次力等,
不过结果与exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization稍有不同,
请教是定义上有不同，需要做什么样的调整，如旋转顺序，imu定义方向不同等

3. 请教关于文档中的noise, 与 vins之间的 noise单位上存在等价转换关系吗 , 对于系统有影响吗？
   ob_gins:
   arw: 0.24 # deg/sqrt(hr)
   vrw: 0.24 # m/s/sqrt(hr)
   gbstd: 50.0 # deg/hr
   abstd: 250.0 # mGal
   corrtime: 1.0 # hr

vins:
#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.1 # accelerometer measurement noise standard deviation.
gyr_n: 0.01 # gyroscope measurement noise standard deviation.
acc_w: 0.001 # accelerometer bias random work noise standard deviation.
gyr_w: 0.0001 # gyroscope bias random work noise standard deviation.

请问OB_GINS使用的IMU数据采集系统是东北天（ENU）坐标系，但是OB_GINS在实现的时候使用的导航坐标系是NED北东地坐标系，在程序中 我没有看到哪里存在转换 还是IMU数据采集本身就是NED北东地坐标系？

I have seen in many of your papers that icm20602 datasets are in 200hz. I would like to know the raw imu sampling freqency. is imu samples (eg 1000hz) are trapzoidql integrated to achieve dvel and dtheta. Or it is a simple devided by 200 to represent dtheta and devel?

Hi,
I used OBGINS on my own dataset, but encountered the following problem. I don't know the reason and how to solve it.

I would appreciate if there is someone can help me.

This is my GNSS_RTK.pos:

And this my ADIS16465.txt:

我想将里程计加入优化中，我们的imu是400Hz，里程计是10Hz.请问在组织imu文件时，imu和里程计时间不同步的数据行我是不是输出7列，时间同步的输出8列？

你好，近期使用及学习OB_GINS获益匪浅，然后看到18维状态变量数组包含了IMU比例因子误差及安装偏角误差，但是没有实现。之后是否会开源这一部分的预积分因子内容？

cmake ../ -DCAMKE_BUILD_TYPE=Release
should be DCMAKE