Comments (4)
rodralez
commented on July 28, 2024
El mar., 31 jul. 2018 12:49 PM, xelmirage <[email protected]>
escribió:
Hi~I'm working with your wonderful work to process the data from my own
UAV autopilot. But Now I am confused with the relation of the Body frame
XYZ and the roll/pitch/yaw of the UAV. I tried to found the general
relationship and there are many possibilities existing. So I'm wondering if
there is any further definition of the relation of the Body frame XYZ and
the roll/pitch/yaw of the UAV?
Hello,
Body frame in Navego is positive X-forward, Y-right, and Z-down.
Regards.
--
Rodrigo Gonzalez
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xelmirage
commented on July 28, 2024
Thank you for your explanation. There is another issue. The navego_example.m seems to have some mixing use of radian and degree in the IMU error profile section. So I am a little confused about the actual unit of every parameter. Now I am guessing the correct units. if you don't mind, later I may create a pull request to fix this problem...
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rodralez
commented on July 28, 2024
2018-08-04 23:45 GMT-03:00 xelmirage <[email protected]>:
Thank you for your explanation. There is another issue. The navego_example.m seems to have some mixing use of radian and degree in the IMU error profile section. So I am a little confused about the actual unit of every parameter. Now I am guessing the correct units. if you don't mind, later I may create a pull request to fix this problem...
Hello,
NaveGo works internally using SI units. So, angles must be represented
in radians and turn rates in radians per second.
Then, you can choose to show the attitude errors between NaveGo and a
reference (true) dataset in radians or degree. I choose degrees
because is a more familiar unit for me.
I strongly recommend you to read my two articles cited in the
Publications section at NaveGo repository:
(Gonzalez et al., 2015) R. Gonzalez, J.I. Giribet, and H.D. Patiño.
NaveGo: a simulation framework for low-cost integrated navigation
systems, Journal of Control Engineering and Applied Informatics, vol.
17, issue 2, pp. 110-120, 2015.
(Gonzalez et al., 2015a) R. Gonzalez, J.I. Giribet, and H.D. Patiño.
An approach to benchmarking of loosely coupled low-cost navigation
systems. Mathematical and Computer Modelling of Dynamical Systems,
vol. 21, issue 3, pp. 272-287, 2015.
Regards.
--
Rodrigo Gonzalez
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xelmirage
commented on July 28, 2024
Now I see，I had some misunderstanding of the code, thank you for your explanation.
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Related Issues (20)
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