Development environment:

• Ubuntu 18.04
• MacOS Ventura 13.0

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ESKF融合IMU与GPS数据

绿色轨迹：ground truth 蓝色轨迹：fuse IMU and GPS 红色轨迹：GPS

实现方法请参考我的博客《【附源码+代码注释】误差状态卡尔曼滤波(error-state Kalman Filter)实现GPS+IMU融合，EKF ESKF GPS+IMU》

1. 依赖库

Eigen

sudo apt-get install libeigen3-dev

Yaml

# linux 
sudo apt-get install libyaml-cpp-dev

# mac
brew install yaml-cpp-dev

# dev libraries are those that contain the header files (*.h, *.hpp) (generally).

2. 编译

cd eskf-gps-imu-fusion
mkdir build
cd build
cmake ..
make 

3. 运行

cd eskf-gps-imu-fusion/build
./gps_imu_fusion

4.轨迹显示

执行完./gps_imu_fusion会生成轨迹文件

cd eskf-gps-imu-fusion/data

# 查看轨迹
evo_traj kitti fused.txt gt.txt measured.txt -p 

# 查看误差
evo_ape  kitti fused.txt  gt.txt  -va -p  --plot_mode=xy --save_results ../media/trajectory.zip

需要安装evo，git@github.com:MichaelGrupp/evo.git 参考博客介绍：https://blog.csdn.net/u011341856/article/details/104594392?spm=1001.2014.3001.5501