Comments (4)
LZNUDT
commented on July 28, 2024
Take the calculation of gb_psd as an example：
What I calculated is not very consistent with yours。
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rodralez
commented on July 28, 2024
Dear Zhen,
First of all, thank you very much for your kind words. And thank for
using NaveGo and your detailed examination of our research.
About your question, I checked my code and this is the formula I used
to calculate xb_psd values:
imu_ekinox.gb_psd = ekinox_allan.gb_dyn .*
sqrt(ekinox_allan.gb_corr) / 2; % rad/s/root-Hz;
imu_ekinox.ab_psd = ekinox_allan.ab_dyn .*
sqrt(ekinox_allan.ab_corr) / 2; % m/s^2/root-Hz;
I divide by 2 the original xb_psd values in order to get better
results when running the Kalman filter. This is the reason.
You can try using original values and divided-by-2 values and compare
the performances of both INS/GNSS systems.
Regards.
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LZNUDT
commented on July 28, 2024
thank you very much!
I look forward to the following areas:
- Zero speed correction and vehicle model;
- Tight combination of IMU / GNSS
- Now that you have mentioned that the IMU gyroscope does not conform to the normal distribution, maybe other types of filters are more suitable for integrated navigation.
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rodralez
commented on July 28, 2024
Hi Zhen,
If you would like to become an active contributor to NaveGo, please send me
an email to the email addresses that is provided in the main page of this
repository.
Kind regards.
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