These parameters belong to the main MSF programm and not to a specific sensor and are necessary independent of the sensors in use.
## MSF core
scale_init: scaling factor 1. 代表没有缩放
core/data_playback: be set True if you are running the system from a ROSbag and False otherwise
注意,使用ROSbag的时候,to use simulation time to true: "roscore set /use_sim_time True".
并且 play your ROSbag using the "--clock" option.
core/fixed_bias:True the IMU bias can not be adapted online by MSF. 通过设置为false,除非你确信bias不会变
core IMU parameters: core/core_noise_acc, core/core_noise_accbias, core/core_noise_gyr, core/core_noise_gyrbias
## MSF single sensor Param 每一个sensor的配置文件都是独立的
Transformation parameters: sensor的测量与机体中心也就是IMU body的相对变换 sensortype/init/q_ic/x, sensortype/init/q_ic/y...
sensortype/type_absolute_measurements: 确定传感器的测量是绝对测量,还是相对于上一帧的相对测量
sensortype/type_use_fixed_covariance: True表示传感器的协方差是固定的,False表示协方差由传感器提供 (如果传感器不提供一般设为True))
sensortype/type_measurement_world_sensor: True表示 传感器的测量位姿或者估计位姿为 Pwb (body to world)[如Vicon ROVIO], false 表示Pbw[如 ptam]]
## stability and precision
Outlier rejection
sensortype/enable_mah_outlier_rejection 一般设置为true,除非你十分确信你的传感器或者算法不会产生outlier
sensortype/mah_threshold 一般设置为5, 一把根据噪声和协方差来设置
Noise Estimation 只有没有固定协方差,才会估计噪声
sensortype/enable_noise_estimation
sensortype/noise_estimation_discount_factor
sensortype/max_noise_threshold 限制所估计噪声的上限
Sensor Recovery
sensortype/enable_divergence_recovery: enables or disables sensor recovery.
sensortype/divergence_rejection_limit
sensortype/use_reset_to_pose defines
- GPS数据
latitude: 47.6416979
longitude: -122.1386583
altitude: 101.009385831
position_covariance: [0.089401, 0.0, 0.0, 0.0, 0.089401, 0.0, 0.0, 0.0, 0.159201]
position_covariance_type: 2
msf_core/hl_state_input
msf_core/correction
msf_core/imu_state_input
msf_updates/transform_input
- IMUHandler_ROS
## 订阅 imu测量数据 imu_state_input
数据类型:sensor_msgs::Imu
ProcessIMU(acc, angvel, stamp, seq);
积分并求解IMU协方差
## 订阅 pose数据
数据类型: geometry_msgs::PoseWithCovarianceStamped
geometry_msgs::TransformStamped
geometry_msgs::PoseStamped
MeasurementCallback
ProcessPoseMeasurement(pose);
## 订阅 hl_state_input
- PoseSensorHandler_T
Time delay compensated single and multi sensor fusion framework based on an EKF. Please see the wiki for more information: https://github.com/ethz-asl/ethzasl_msf/wiki
The API is documented here: http://ethz-asl.github.io/ethzasl_msf
You are welcome contributing to the package by opening a pull-request: Please make yourself familiar with the Google c++ style guide: http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml
The source code is released under the Apache 2.0 license