How to get standard deviation of gnss receiver clock bias and clock drift rate?

[Mil1ium]

Thanks for your nice work. @shaozu

I've got a new question about GNSS receiver dt and ddt factor.

In your code, standard deviation of ddt is set to 0.1(unit: m/s ?) and the infomation matrix of dt is set to 50(unit: m ?). Could you please tell me why set them to these values?

[SSZ1]

Thanks for your nice work. @shaozu I've got a new question about GNSS receiver dt and ddt factor. In your code, standard deviation of ddt is set to 0.1(unit: m/s ?) and the infomation matrix of dt is set to 50(unit: m ?). Could you please tell me why set them to these values?

Hi~bro. I met a problem here. I use my own device to test GVINS. And I found the green path( in local frame) and the blue path (in ENU frame) is not the same. And @shaozu in issue#5 said The green path is in local frame, while the blue in ENU frame. There is a yaw offset between these two frames. But in my test, it seemed there is not only a yaw offset between these two paths. It looked totally different. So do you know this is why? Thanks for your time. First test

Second test

Third test

And Is it possible that when I tested the GNSS signal wasn't good in some places when I tested which caused that?

[ooww0123TW]

@SSZ1 I think the reason for the two paths are different is varying yaw offset and anc_ecef value.