imu_tk是一个开源的用于低精度IMU标定的代码,github地址为: imu_tkgithub.com/Kyle-ak/imu_tk ,主要用了非线性优化方法做加速度计和陀螺仪的标定,标定参数包括bias(3个),标度因子(3个),非正交安装误差(3个),一共12个参数。 算法思路简介 详细的算法思路可以参考它给出的两篇论文,加速度计的标定利用了...
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git clone https://github.com/pivpn/pivpn.git sudo bash pivpn/auto_install/install.sh OBS: In alternative to install.pivpn.io you can use the raw github link: https://raw.githubusercontent.com/pivpn/pivpn/master/auto_install/install.sh ...
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Deploy! Lite mode This mode will serve a simple nginx-like directory listing, and it only work with one drive. upload will be ignored in this mode. On the top of the script, change lite: false into lite: true, than thats all. Lite mode demoAbout...
参考:github.com/Kyle-ak/imu_ 4. imu_tk注意点 4.1 如何理解imu_tk自带的xsens_acc.mat / xsens_gyro.mat文件格式? 程序中附带的数据都是3万多的值,这是因为这里采用的是16位带符号数作为IMU测量数据输出,即数据类型是int16,需要根据对应IMU的量程进行转换,具体可参考:blog.csdn.net/lgcjlu/ar。(tips:...
imu标定 imu_tk 1. 首先标定加速度计,这是imu加速度计xyz三个轴在标定过程中的读数: 标定结果: 2. 利用加速度计的标定结果,标定陀螺仪,结果: 也可以使用港科大开源的一个工具: https://github.com/gaowenliang/imu_utils
imu_tk:GitHub - Neil-Oyoung/imu_tk: ROS Wrapper for imu_tk github.com/Kyle-ak/imu_ imucal:github.com/mad-lab-fau/ 校正方法如下: Given a raw sensor reading X (e.g., the acceleration ), the calibrated "unbiased" reading X' is obtained. Misalignment matrix: [ 1 -mis_yz mis_zy ...
2、IMU内参标定工具imu_tk https://github.com/Kyle-ak/imu_tk(或者https://bitbucket.org/alberto_pretto/imu_tk) wiki基本没有。 详细介绍:https://blog.csdn.net/haoliliang88/article/details/76737960 关于IMU误差的讲解:https://www.cnblogs.com/buxiaoyi/p/7541974.html(推荐) ...