Example Code

[Fachmann04]

I am not really getting smart from your code as I don't understand where I have to input the data from IMU and GNSS. Could you please provide an example on how to use the functions and where I have to do something myself? That woul be very kind.

[orsalmon]

Hi, The ins-gps-ekf is a c++ library with very simple API: 1. create an instance of EKF_INS::EKF(); 2. input initial conditions using setInitialState(Eigen::Vector3d p_0, Eigen::Vector3d v_0, Eigen::Matrix3d T_0); 3. when you want to start, run start(); 4. whenever you have data from the accelerometer, use updateWithInertialMeasurement(Eigen::Vector3d data, enum Type type); , where type = EKF_INS::Type::ACCELEROMETER 5. whenever you have data from the gyro, use updateWithInertialMeasurement(Eigen::Vector3d data, enum Type type); , where type = EKF_INS::Type::GYRO 6. whenever you have data from the GPS, use updateWithGPSMeasurements (std::vector<Eigen::Matrix<double, 6, 1>> gps_data); 7. to get the output of the ekf you can use one of those methods: Eigen::VectorXd getErrorState(); std::tuple<Eigen::Vector3d, Eigen::Vector3d, Eigen::Matrix3d> getNavigationState(); Eigen::MatrixXd getErrorStateCovariance(); Eigen::Vector3d getPositionState(); Eigen::Vector3d getVelocityState(); Eigen::Matrix3d getOrientationState(); double getAzimuth(); You can take a look in https://github.com/orsalmon/KittiDatasetGPS-INSViewer/blob/master/KittiDatasetTools/KittiDatasetParser.cpp, especially in the function void KittiDatasetParser::startPlayingData(); to see how I am using this library. Have a nice day, Or

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On Fri, Nov 23, 2018 at 2:52 PM Fachmann04 ***@***.***> wrote: I am not really getting smart from your code as I don't understand where I have to input the data from IMU and GNSS. Could you please provide an example on how to use the functions and where I have to do something myself? That woul be very kind. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#1>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AH5BWMnDgOF4K5pREeprHN1QMfiGCiThks5ux--YgaJpZM4YwnLo> .

[Fachmann04]

Thanks a lot!