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如何融合RTK数据 #13

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insistyxj opened this issue Apr 7, 2022 · 3 comments
Closed

如何融合RTK数据 #13

insistyxj opened this issue Apr 7, 2022 · 3 comments

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@insistyxj
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高博，如果想在目前的fster_lio中加入rtk信息，主要是想用RTK 来修正里程计的位姿。这个RTK信息的使用可以放在IEKF中一起迭代么，还是做一个后融合就可以了呢。
@gaoxiang12
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可以，如果RTK和激光同步，那么就在观测方程中添加几行对R和T的观测即可，推导一下相应的雅可比阵。RTK单独观测也可以。
不过原版FastLIO2基于MTK来表达状态变量，改起来可能麻烦一些。

@insistyxj
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好的 谢谢高博。我之后改入看一下效果。

@OliverShaoPT
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好的 谢谢高博。我之后改入看一下效果。

我使用gtsam后端融合RTK数据，在SLAM前端不退化的情况下，效果还可以。老哥在观测方程中融合效果如何呢？

@chengwei0427 chengwei0427 mentioned this issue Sep 5, 2022
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3 participants
@gaoxiang12 @insistyxj @OliverShaoPT