# ekf2

**Repository Path**: ghowoght/ekf2

## Basic Information

- **Project Name**: ekf2
- **Description**: 里程计&IMU松组合(右乘模型)
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2023-04-21
- **Last Updated**: 2023-12-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IMU与里程计的EKF组合(右乘模型)

IMU递推和误差模型参考：[FAST-LIO公式推导](https://zhuanlan.zhihu.com/p/561877392)

|  | 01 | 02 |
| :----------------------------------: | :------------------------------: | :------------------------------: |
|                 估计轨迹与参考轨迹                 |                 ![011803-ekf](img/011803-ekf.png)                 |   ![031503-ekf](img/031503-ekf.png)   |
| 25米位置相对精度 | ![011803-rpe_25m](img/011803-rpe_25m.png) | ![031503-rpe_25m](img/031503-rpe_25m.png) |
| APE & RPE | APE: 5.564, 12.127<br/>RPE(25m): 0.49 / 1.76%<br/>RPE(50m): 0.85 / 1.78%<br/>RPE(100m): 1.57 / 1.95%<br/>RPE(200m): 3.00 / 2.42% | APE: 1.801, 5.312<br/>RPE(25m): 0.37 / 0.84%<br/>RPE(50m): 0.53 / 0.86%<br/>RPE(100m): 0.80 / 0.97%<br/>RPE(200m): 1.24 / 1.30% |