Comments (4)
gaoxiang12
commented on August 13, 2024
可以考虑融合轮速。轮速能够比较准确地反映车辆在前进方向上的状态。
我们实际工程中用的faster-lio还包括了RTK与轮速的融合，效果要稳定不少。
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OliverShaoPT
commented on August 13, 2024
可以考虑融合轮速。轮速能够比较准确地反映车辆在前进方向上的状态。 我们实际工程中用的faster-lio还包括了RTK与轮速的融合，效果要稳定不少。
我在实验过程中，有尝试使用factor graph 的方法，在GTSAM 后端加入RTK数据，融合faster-lio的里程计和RTK定位。但因为RTK数据还是没有输入到SLAM系统中，起不到纠正SLAM前端漂移的效果。按照高博您说的方法，是不是需要把RTK和轮速加入前端的观测方程中呢？（求学习案例，直接看代码没有头绪）
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gaoxiang12
commented on August 13, 2024
是的，直接加在观测方程中就行，需要一定程度上改写这边的ESKF代码。
RTK有旋转和平移观测后，还能防止LIO在零空间里的发散情况，体现为：1）引入RTK后LIO不会翘起来或者陷下去；2）LIO的加计零偏与重力方向不再耦合（没有绝对位姿观测时它们是耦合的，LIO跑久了可能出现很大的加计零偏和很奇怪的重力方向）。
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OliverShaoPT
commented on August 13, 2024
感谢高博解答！
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Related Issues (20)
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