Onboard-SDK
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20 hours ago •
dji-sdk
dji-sdk
Sigificant deviation between gimbal real Yaw and telemetry Yaw
Hi,
We have a M300 with the H20T camera, where we calibrated the RGB data from the images from OSDK with the Telemetry obtained from the OSDK. There is a significant deviation and inconsistency between the calibrated telemetry data and raw telemetry. The major issue is the rotation in Yaw. We have conducted the calibration as follows: We gathered telemetry data, then generated three sets of datasets for latitude, longitude, altitude , roll, pitch and Yaw. The only variation was the Yaw, where the first one is yaw of the gimbal, second is yaw of the gimbal minus drone yaw,third is the gimbal yaw plus drone yaw. Afterwords we used the said datasets with identical images and calibrated in Pix4d. The results show almost identical values for latitude, longitude, altitude , roll, pitch and yaw for all three calibration. But the issue is that they vary quite a bit from the input yaw, where gimbal yaw alone has the least standard deviation.
The data is combined in a excel file, where you can see the deviation. Moreover, there doesn't seem to be a deviation in time-step between the pictures and the telemetry CalibrationPix4dcomparison.xlsx .
Agent comment from DJI SDK in Zendesk ticket #56188:
尊敬的开发者，感谢您联系DJI 大疆创新
由于github不是我们主要的咨询渠道，您的问题可能跟进不及时。我们建议您通过填写表单（ https://djisdksupport.zendesk.com/hc/zh-cn/requests/new ）向我们反馈问题。或者您也可以在论坛发帖，与其它开发者交流。论坛链接：https://djisdksupport.zendesk.com/hc/zh-cn/community/topics
Dear developer, thank you for contacting DJI.
Since github is not our main consultation channel, your questions may not be followed up in time. We recommend that you fill in the form (https://djisdksupport.zendesk.com/hc/en-us/requests/new) to report problems to us. Or you can post in the forum to communicate with other developers. Forum link: https://djisdksupport.zendesk.com/hc/zh-cn/community/topics
°°°
First three groups are calibrated parameters, raw0 is gimbal alone, raw1 is gimbal yaw - drone yaw, raw3 is gimbal yaw+ drone yaw.
| calib0 | Latc0 | lonc0 | altc0 | rolc0 | pitchc0 | yawc0 | calib1 | Latc1 | lonc1 | altc1 | rolc1 | pitchc1 | yawc1 | calib2 | Latc2 | lonc2 | altc2 | rolc2 | pitchc2 | yawc2 | raw0 | Lat0 | lon0 | alt0 | rol0 | pitch0 | yaw0 | raw1 | Lat1 | lon1 | alt1 | rol1 | pitch1 | yaw1 | raw2 | Lat2 | lon2 | alt2 | rol2 | pitch2 | yaw2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RGB1007.jpeg | 57.01525 | 9.979441 | 83.19483 | 3.469735 | 3.02088 | 45.13673 | RGB1007.jpeg | 9.979465 | 57.01526 | 82.85284 | 3.112465 | 4.127385 | 45.18661 | RGB1007.jpeg | 9.979465 | 57.01526 | 82.8481 | 3.12388 | 4.121718 | 45.20251 | RGB1007.jpeg | 57.01526 | 9.979489 | 83.94274 | 1.2 | 16.1 | -79.5 | RGB1007.jpeg | 57.01526 | 9.979489 | 83.94274 | 1.2 | 16.1 | -43.2186 | RGB1007.jpeg | 57.01526 | 9.979489 | 83.94274 | 1.2 | 16.1 | -115.781 |
| RGB1008.jpeg | 57.01526 | 9.979451 | 82.48124 | -1.24622 | -3.03705 | 60.20428 | RGB1008.jpeg | 9.979487 | 57.01526 | 82.17652 | -1.59241 | -1.4118 | 60.32136 | RGB1008.jpeg | 9.979488 | 57.01526 | 82.12047 | -1.58143 | -1.3776 | 60.33097 | RGB1008.jpeg | 57.01527 | 9.97945 | 83.91584 | 0 | 0 | -4.1 | RGB1008.jpeg | 57.01527 | 9.97945 | 83.91584 | 0 | 0 | 30.35552 | RGB1008.jpeg | 57.01527 | 9.97945 | 83.91584 | 0 | 0 | -38.5555 |
| RGB1009.jpeg | 57.01526 | 9.97946 | 82.37569 | -1.43465 | -2.44898 | 23.45913 | RGB1009.jpeg | 9.979489 | 57.01526 | 82.10945 | -1.79639 | -1.19766 | 23.54519 | RGB1009.jpeg | 9.979489 | 57.01526 | 82.10957 | -1.78806 | -1.19751 | 23.5491 | RGB1009.jpeg | 57.01527 | 9.979448 | 83.58052 | 0 | 0 | 1.6 | RGB1009.jpeg | 57.01527 | 9.979448 | 83.58052 | 0 | 0 | 39.10155 | RGB1009.jpeg | 57.01527 | 9.979448 | 83.58052 | 0 | 0 | -35.9016 |
| RGB1010.jpeg | 57.01526 | 9.979438 | 82.1042 | -1.52944 | -3.26089 | 7.122839 | RGB1010.jpeg | 9.979437 | 57.01526 | 82.12688 | -1.49728 | -3.25919 | 7.107007 | RGB1010.jpeg | 9.979437 | 57.01526 | 82.12811 | -1.48953 | -3.25664 | 7.105726 | RGB1010.jpeg | 57.01527 | 9.979446 | 83.84723 | 0 | 0.099998 | 5.6 | RGB1010.jpeg | 57.01527 | 9.979446 | 83.84723 | 0 | 0.099998 | 43.61897 | RGB1010.jpeg | 57.01527 | 9.979446 | 83.84723 | 0 | 0.099998 | -32.419 |
| RGB1011.jpeg | 57.01526 | 9.979435 | 82.08237 | -1.55473 | -3.3028 | 3.379333 | RGB1011.jpeg | 9.979435 | 57.01526 | 82.1049 | -1.54606 | -3.2671 | 3.371598 | RGB1011.jpeg | 9.979434 | 57.01526 | 82.10615 | -1.53454 | -3.27451 | 3.369555 | RGB1011.jpeg | 57.01527 | 9.979443 | 84.06027 | 0 | 0 | 6.4 | RGB1011.jpeg | 57.01527 | 9.979443 | 84.06027 | 0 | 0 | 41.48107 | RGB1011.jpeg | 57.01527 | 9.979443 | 84.06027 | 0 | 0 | -28.6811 |
| RGB1012.jpeg | 57.01526 | 9.97944 | 82.08435 | -1.56372 | -3.05717 | 1.071888 | RGB1012.jpeg | 9.979439 | 57.01527 | 82.09855 | -1.54057 | -3.06057 | 1.054938 | RGB1012.jpeg | 9.979438 | 57.01527 | 82.09882 | -1.52262 | -3.06263 | 1.054834 | RGB1012.jpeg | 57.01527 | 9.97944 | 83.33598 | 0 | 0 | 6.4 | RGB1012.jpeg | 57.01527 | 9.97944 | 83.33598 | 0 | 0 | 34.96064 | RGB1012.jpeg | 57.01527 | 9.97944 | 83.33598 | 0 | 0 | -22.1606 |
| RGB1013.jpeg | 57.01527 | 9.979438 | 82.07721 | -1.52793 | -3.00152 | 0.632723 | RGB1013.jpeg | 9.979438 | 57.01527 | 82.10114 | -1.50217 | -2.95522 | 0.609402 | RGB1013.jpeg | 9.979438 | 57.01527 | 82.10354 | -1.48853 | -2.95358 | 0.607023 | RGB1013.jpeg | 57.01528 | 9.979442 | 82.66036 | 0 | 0 | 7.2 | RGB1013.jpeg | 57.01528 | 9.979442 | 82.66036 | 0 | 0 | 31.89103 | RGB1013.jpeg | 57.01528 | 9.979442 | 82.66036 | 0 | 0 | -17.491 |
| RGB1014.jpeg | 57.01527 | 9.979437 | 82.08464 | -1.51949 | -2.93827 | 0.645071 | RGB1014.jpeg | 9.979437 | 57.01527 | 82.11283 | -1.53819 | -2.90339 | 0.621368 | RGB1014.jpeg | 9.979437 | 57.01527 | 82.1131 | -1.52534 | -2.90228 | 0.620756 | RGB1014.jpeg | 57.01528 | 9.979447 | 82.84348 | 0 | 0.099998 | 10.4 | RGB1014.jpeg | 57.01528 | 9.979447 | 82.84348 | 0 | 0.099998 | 32.31342 | RGB1014.jpeg | 57.01528 | 9.979447 | 82.84348 | 0 | 0.099998 | -11.5134 |
| RGB1015.jpeg | 57.01527 | 9.979433 | 82.08492 | -1.63808 | -3.10565 | -0.61652 | RGB1015.jpeg | 9.979431 | 57.01527 | 82.09889 | -1.57799 | -3.17037 | -0.63365 | RGB1015.jpeg | 9.979431 | 57.01527 | 82.09954 | -1.56384 | -3.16801 | -0.63616 | RGB1015.jpeg | 57.01528 | 9.979454 | 82.66222 | 0 | 0.099998 | 13.4 | RGB1015.jpeg | 57.01528 | 9.979454 | 82.66222 | 0 | 0.099998 | 32.88632 | RGB1015.jpeg | 57.01528 | 9.979454 | 82.66222 | 0 | 0.099998 | -6.08632 |
| RGB1016.jpeg | 57.01527 | 9.979436 | 82.10596 | -1.64566 | -3.13921 | -3.35415 | RGB1016.jpeg | 9.979436 | 57.01527 | 82.13299 | -1.65809 | -3.11408 | -3.37609 | RGB1016.jpeg | 9.979435 | 57.01527 | 82.13343 | -1.64488 | -3.12331 | -3.37575 | RGB1016.jpeg | 57.01529 | 9.979462 | 83.23876 | 0 | 0.099998 | 15.9 | RGB1016.jpeg | 57.01529 | 9.979462 | 83.23876 | 0 | 0.099998 | 33.15141 | RGB1016.jpeg | 57.01529 | 9.979462 | 83.23876 | 0 | 0.099998 | -1.35141 |
| RGB1017.jpeg | 57.01528 | 9.979446 | 82.12198 | -1.7713 | -3.08044 | -7.18654 | RGB1017.jpeg | 9.979444 | 57.01528 | 82.14912 | -1.72802 | -3.09174 | -7.20817 | RGB1017.jpeg | 9.979444 | 57.01528 | 82.15382 | -1.74088 | -3.0921 | -7.20743 | RGB1017.jpeg | 57.01529 | 9.979474 | 83.44521 | 0 | 0.099998 | 18.8 | RGB1017.jpeg | 57.01529 | 9.979474 | 83.44521 | 0 | 0.099998 | 32.90874 | RGB1017.jpeg | 57.01529 | 9.979474 | 83.44521 | 0 | 0.099998 | 4.691261 |
| RGB1018.jpeg | 57.01528 | 9.979455 | 82.12579 | -1.91786 | -3.03641 | -9.72633 | RGB1018.jpeg | 9.979454 | 57.01528 | 82.1421 | -1.87847 | -3.02621 | -9.74461 | RGB1018.jpeg | 9.979454 | 57.01528 | 82.14661 | -1.87787 | -3.00856 | -9.74553 | RGB1018.jpeg | 57.01529 | 9.979489 | 83.91729 | 0 | 0.099998 | 22.1 | RGB1018.jpeg | 57.01529 | 9.979489 | 83.91729 | 0 | 0.099998 | 32.79072 | RGB1018.jpeg | 57.01529 | 9.979489 | 83.91729 | 0 | 0.099998 | 11.40928 |
| RGB1019.jpeg | 57.01529 | 9.979469 | 82.09451 | -1.96882 | -3.02247 | -13.2577 | RGB1019.jpeg | 9.979467 | 57.01529 | 82.11252 | -1.92226 | -3.0826 | -13.2813 | RGB1019.jpeg | 9.979467 | 57.01529 | 82.11399 | -1.90826 | -3.08069 | -13.282 | RGB1019.jpeg | 57.0153 | 9.979506 | 83.50897 | 0 | 0.099998 | 25.3 | RGB1019.jpeg | 57.0153 | 9.979506 | 83.50897 | 0 | 0.099998 | 33.43311 | RGB1019.jpeg | 57.0153 | 9.979506 | 83.50897 | 0 | 0.099998 | 17.16689 |
| RGB1020.jpeg | 57.01529 | 9.979481 | 82.07655 | -2.03341 | -3.03425 | -16.0612 | RGB1020.jpeg | 9.979481 | 57.01529 | 82.10915 | -2.02906 | -2.99826 | -16.081 | RGB1020.jpeg | 9.979481 | 57.01529 | 82.1102 | -1.9936 | -2.99701 | -16.0793 | RGB1020.jpeg | 57.0153 | 9.979523 | 82.94038 | 0 | 0.099998 | 27.4 | RGB1020.jpeg | 57.0153 | 9.979523 | 82.94038 | 0 | 0.099998 | 34.76167 | RGB1020.jpeg | 57.0153 | 9.979523 | 82.94038 | 0 | 0.099998 | 20.03833 |
| RGB1021.jpeg | 57.01529 | 9.979497 | 82.05975 | -2.155 | -2.93304 | -18.6456 | RGB1021.jpeg | 9.979496 | 57.01529 | 82.08973 | -2.1168 | -2.9293 | -18.6615 | RGB1021.jpeg | 9.979497 | 57.01529 | 82.09108 | -2.10324 | -2.91064 | -18.6597 | RGB1021.jpeg | 57.0153 | 9.979544 | 83.15882 | 0 | 0.099998 | 29 | RGB1021.jpeg | 57.0153 | 9.979544 | 83.15882 | 0 | 0.099998 | 37.27124 | RGB1021.jpeg | 57.0153 | 9.979544 | 83.15882 | 0 | 0.099998 | 20.72876 |
| RGB1022.jpeg | 57.0153 | 9.979522 | 82.07238 | -2.22995 | -2.77467 | -21.0724 | RGB1022.jpeg | 9.979522 | 57.0153 | 82.09864 | -2.18553 | -2.74898 | -21.0885 | RGB1022.jpeg | 9.979522 | 57.0153 | 82.10156 | -2.16663 | -2.75224 | -21.0883 | RGB1022.jpeg | 57.0153 | 9.979566 | 82.62564 | 0 | 0.099998 | 30.3 | RGB1022.jpeg | 57.0153 | 9.979566 | 82.62564 | 0 | 0.099998 | 39.6419 | RGB1022.jpeg | 57.0153 | 9.979566 | 82.62564 | 0 | 0.099998 | 20.9581 |
| RGB1023.jpeg | 57.0153 | 9.979539 | 82.06953 | -2.28548 | -2.75509 | -22.2851 | RGB1023.jpeg | 9.979539 | 57.0153 | 82.09984 | -2.21485 | -2.7067 | -22.299 | RGB1023.jpeg | 9.97954 | 57.0153 | 82.10477 | -2.19676 | -2.69004 | -22.2979 | RGB1023.jpeg | 57.0153 | 9.979586 | 82.87717 | 0 | 0.099998 | 31.1 | RGB1023.jpeg | 57.0153 | 9.979586 | 82.87717 | 0 | 0.099998 | 41.02197 | RGB1023.jpeg | 57.0153 | 9.979586 | 82.87717 | 0 | 0.099998 | 21.17804 |
| RGB1024.jpeg | 57.0153 | 9.979569 | 82.05589 | -2.37871 | -2.55057 | -23.6887 | RGB1024.jpeg | 9.979568 | 57.0153 | 82.08591 | -2.32313 | -2.54498 | -23.7022 | RGB1024.jpeg | 9.979568 | 57.0153 | 82.08467 | -2.3171 | -2.53446 | -23.7011 | RGB1024.jpeg | 57.01531 | 9.979609 | 83.10108 | 0 | 0.099998 | 31.2 | RGB1024.jpeg | 57.01531 | 9.979609 | 83.10108 | 0 | 0.099998 | 41.23534 | RGB1024.jpeg | 57.01531 | 9.979609 | 83.10108 | 0 | 0.099998 | 21.16466 |
| RGB1025.jpeg | 57.0153 | 9.979588 | 82.11885 | -2.40087 | -2.478 | -24.0993 | RGB1025.jpeg | 9.979589 | 57.0153 | 82.14869 | -2.3059 | -2.39872 | -24.1088 | RGB1025.jpeg | 9.979589 | 57.0153 | 82.14898 | -2.28934 | -2.39771 | -24.109 | RGB1025.jpeg | 57.01531 | 9.979629 | 82.35879 | 0 | 0.099998 | 31.2 | RGB1025.jpeg | 57.01531 | 9.979629 | 82.35879 | 0 | 0.099998 | 39.62268 | RGB1025.jpeg | 57.01531 | 9.979629 | 82.35879 | 0 | 0.099998 | 22.77732 |
| RGB1026.jpeg | 57.0153 | 9.979608 | 82.13118 | -2.43484 | -2.46196 | -24.0906 | RGB1026.jpeg | 9.979609 | 57.0153 | 82.15813 | -2.38748 | -2.40128 | -24.1095 | RGB1026.jpeg | 9.979609 | 57.0153 | 82.1583 | -2.3652 | -2.39423 | -24.1092 | RGB1026.jpeg | 57.01531 | 9.979651 | 82.62526 | 0 | 0.099998 | 32.4 | RGB1026.jpeg | 57.01531 | 9.979651 | 82.62526 | 0 | 0.099998 | 40.75095 | RGB1026.jpeg | 57.01531 | 9.979651 | 82.62526 | 0 | 0.099998 | 24.04905 |
| RGB1027.jpeg | 57.0153 | 9.97963 | 82.19521 | -2.52107 | -2.53494 | -24.6375 | RGB1027.jpeg | 9.979631 | 57.0153 | 82.22024 | -2.471 | -2.47141 | -24.6521 | RGB1027.jpeg | 9.979631 | 57.0153 | 82.22284 | -2.4453 | -2.47576 | -24.6512 | RGB1027.jpeg | 57.01531 | 9.979673 | 82.5972 | 0 | 0 | 32.6 | RGB1027.jpeg | 57.01531 | 9.979673 | 82.5972 | 0 | 0 | 40.53162 | RGB1027.jpeg | 57.01531 | 9.979673 | 82.5972 | 0 | 0 | 24.66838 |
| RGB1028.jpeg | 57.01531 | 9.979658 | 82.24744 | -2.52333 | -2.37122 | -25.5546 | RGB1028.jpeg | 9.979659 | 57.01531 | 82.2774 | -2.47258 | -2.33209 | -25.5703 | RGB1028.jpeg | 9.979659 | 57.01531 | 82.28266 | -2.45565 | -2.33 | -25.5705 | RGB1028.jpeg | 57.01531 | 9.979694 | 82.67002 | 0 | 0 | 32.6 | RGB1028.jpeg | 57.01531 | 9.979694 | 82.67002 | 0 | 0 | 40.42361 | RGB1028.jpeg | 57.01531 | 9.979694 | 82.67002 | 0 | 0 | 24.77639 |
| RGB1029.jpeg | 57.01531 | 9.979674 | 82.26311 | -2.46735 | -2.37522 | -25.5294 | RGB1029.jpeg | 9.979674 | 57.01531 | 82.29518 | -2.41579 | -2.3369 | -25.5437 | RGB1029.jpeg | 9.979674 | 57.01531 | 82.29786 | -2.40531 | -2.3345 | -25.5423 | RGB1029.jpeg | 57.01531 | 9.979714 | 82.59877 | 0 | 0 | 32.6 | RGB1029.jpeg | 57.01531 | 9.979714 | 82.59877 | 0 | 0 | 40.61115 | RGB1029.jpeg | 57.01531 | 9.979714 | 82.59877 | 0 | 0 | 24.58885 |
| RGB1030.jpeg | 57.0153 | 9.97969 | 82.28776 | -2.33014 | -2.37899 | -25.5154 | RGB1030.jpeg | 9.979691 | 57.0153 | 82.31492 | -2.34272 | -2.32466 | -25.529 | RGB1030.jpeg | 9.979691 | 57.0153 | 82.31525 | -2.33466 | -2.3204 | -25.5277 | RGB1030.jpeg | 57.0153 | 9.979732 | 82.52432 | 0 | 0 | 32.6 | RGB1030.jpeg | 57.0153 | 9.979732 | 82.52432 | 0 | 0 | 40.53599 | RGB1030.jpeg | 57.0153 | 9.979732 | 82.52432 | 0 | 0 | 24.66401 |
| RGB1031.jpeg | 57.0153 | 9.979711 | 82.30308 | -2.39258 | -2.32898 | -25.5112 | RGB1031.jpeg | 9.979711 | 57.0153 | 82.32615 | -2.34853 | -2.2921 | -25.5308 | RGB1031.jpeg | 9.979711 | 57.0153 | 82.32565 | -2.32988 | -2.29067 | -25.5315 | RGB1031.jpeg | 57.0153 | 9.979751 | 82.16331 | 0 | 0 | 32.8 | RGB1031.jpeg | 57.0153 | 9.979751 | 82.16331 | 0 | 0 | 40.99775 | RGB1031.jpeg | 57.0153 | 9.979751 | 82.16331 | 0 | 0 | 24.60225 |
| RGB1032.jpeg | 57.0153 | 9.979728 | 82.33145 | -2.37914 | -2.29635 | -25.5124 | RGB1032.jpeg | 9.979728 | 57.0153 | 82.35203 | -2.32109 | -2.26998 | -25.5315 | RGB1032.jpeg | 9.979728 | 57.0153 | 82.35456 | -2.30328 | -2.27615 | -25.5307 | RGB1032.jpeg | 57.0153 | 9.979768 | 81.82404 | 0 | 0 | 32.9 | RGB1032.jpeg | 57.0153 | 9.979768 | 81.82404 | 0 | 0 | 41.43422 | RGB1032.jpeg | 57.0153 | 9.979768 | 81.82404 | 0 | 0 | 24.36578 |
| RGB1033.jpeg | 57.0153 | 9.979749 | 82.40191 | -2.37422 | -2.32979 | -25.7367 | RGB1033.jpeg | 9.979749 | 57.0153 | 82.42184 | -2.28034 | -2.30712 | -25.7547 | RGB1033.jpeg | 9.979749 | 57.0153 | 82.42428 | -2.26617 | -2.31059 | -25.7548 | RGB1033.jpeg | 57.01529 | 9.979788 | 82.30154 | 0 | 0 | 32.9 | RGB1033.jpeg | 57.01529 | 9.979788 | 82.30154 | 0 | 0 | 41.64662 | RGB1033.jpeg | 57.01529 | 9.979788 | 82.30154 | 0 | 0 | 24.15338 |
| RGB1034.jpeg | 57.0153 | 9.979769 | 82.45291 | -2.31225 | -2.25657 | -25.7333 | RGB1034.jpeg | 9.97977 | 57.0153 | 82.47286 | -2.31943 | -2.21188 | -25.7521 | RGB1034.jpeg | 9.97977 | 57.0153 | 82.47521 | -2.30628 | -2.21542 | -25.7515 | RGB1034.jpeg | 57.01529 | 9.979803 | 81.90557 | 0 | 0 | 32.9 | RGB1034.jpeg | 57.01529 | 9.979803 | 81.90557 | 0 | 0 | 41.20336 | RGB1034.jpeg | 57.01529 | 9.979803 | 81.90557 | 0 | 0 | 24.59664 |
| RGB1035.jpeg | 57.0153 | 9.979845 | 82.05462 | -3.09051 | -7.07166 | -66.9759 | RGB1035.jpeg | 9.979844 | 57.01529 | 82.25845 | -2.51881 | -7.09181 | -66.9452 | RGB1035.jpeg | 9.979843 | 57.01529 | 82.27091 | -2.50965 | -7.10501 | -66.9097 | RGB1035.jpeg | 57.01528 | 9.979861 | 82.37978 | -0.9 | 9.199997 | 120.9 | RGB1035.jpeg | 57.01528 | 9.979861 | 82.37978 | -0.9 | 9.199997 | 108.8071 | RGB1035.jpeg | 57.01528 | 9.979861 | 82.37978 | -0.9 | 9.199997 | 132.9929 |
| RGB1036.jpeg | 57.01528 | 9.979895 | 82.7135 | -8.50782 | -6.08743 | -138.317 | RGB1036.jpeg | 9.979892 | 57.01528 | 82.69901 | -8.60735 | -6.20077 | -138.407 | RGB1036.jpeg | 9.979892 | 57.01528 | 82.69366 | -8.59055 | -6.1874 | -138.411 | RGB1036.jpeg | 57.01527 | 9.979904 | 83.45472 | -0.1 | 7.300003 | 166.7 | RGB1036.jpeg | 57.01527 | 9.979904 | 83.45472 | -0.1 | 7.300003 | 144.7604 | RGB1036.jpeg | 57.01527 | 9.979904 | 83.45472 | -0.1 | 7.300003 | 188.6396 |
| RGB1037.jpeg | 57.01527 | 9.979913 | 82.82018 | -8.74911 | -3.50365 | -153.977 | RGB1037.jpeg | 9.979912 | 57.01527 | 82.84597 | -8.74532 | -3.51959 | -153.974 | RGB1037.jpeg | 9.979912 | 57.01527 | 82.83878 | -8.73284 | -3.50747 | -153.974 | RGB1037.jpeg | 57.01528 | 9.979912 | 82.6869 | 0 | 7.199997 | 167.7 | RGB1037.jpeg | 57.01528 | 9.979912 | 82.6869 | 0 | 7.199997 | 148.2163 | RGB1037.jpeg | 57.01528 | 9.979912 | 82.6869 | 0 | 7.199997 | 187.1837 |
| RGB1038.jpeg | 57.01527 | 9.979912 | 82.83543 | -8.78667 | -3.31218 | -161.263 | RGB1038.jpeg | 9.979911 | 57.01527 | 82.82111 | -8.8835 | -3.30868 | -161.278 | RGB1038.jpeg | 9.979911 | 57.01527 | 82.82586 | -8.85827 | -3.31184 | -161.279 | RGB1038.jpeg | 57.01528 | 9.979917 | 82.8863 | 0 | 7.300003 | 167.7 | RGB1038.jpeg | 57.01528 | 9.979917 | 82.8863 | 0 | 7.300003 | 146.8171 | RGB1038.jpeg | 57.01528 | 9.979917 | 82.8863 | 0 | 7.300003 | 188.5829 |
| RGB1039.jpeg | 57.01526 | 9.979906 | 83.08359 | -0.35487 | -2.51853 | -51.7707 | RGB1039.jpeg | 9.979921 | 57.01527 | 82.73598 | -0.86678 | -1.86581 | -51.7857 | RGB1039.jpeg | 9.97992 | 57.01527 | 82.68891 | -0.85715 | -1.87997 | -51.7984 | RGB1039.jpeg | 57.01529 | 9.979933 | 82.99262 | 0 | 0 | 3 | RGB1039.jpeg | 57.01529 | 9.979933 | 82.99262 | 0 | 0 | -6.71335 | RGB1039.jpeg | 57.01529 | 9.979933 | 82.99262 | 0 | 0 | 12.71335 |
| RGB1040.jpeg | 57.01528 | 9.979938 | 83.01891 | -1.32663 | -1.08804 | -5.78074 | RGB1040.jpeg | 9.979937 | 57.01528 | 82.78268 | -1.30329 | -1.06276 | -5.79861 | RGB1040.jpeg | 9.979937 | 57.01528 | 82.78032 | -1.29878 | -1.0714 | -5.78485 | RGB1040.jpeg | 57.01529 | 9.979934 | 83.20312 | 0 | 0 | 0 | RGB1040.jpeg | 57.01529 | 9.979934 | 83.20312 | 0 | 0 | -10.2846 | RGB1040.jpeg | 57.01529 | 9.979934 | 83.20312 | 0 | 0 | 10.28461 |
| RGB1041.jpeg | 57.01529 | 9.979932 | 82.73304 | -1.48746 | -1.25695 | 7.535589 | RGB1041.jpeg | 9.979932 | 57.01529 | 82.74453 | -1.4169 | -1.25302 | 7.51724 | RGB1041.jpeg | 9.979931 | 57.01529 | 82.75092 | -1.40469 | -1.26431 | 7.517668 | RGB1041.jpeg | 57.01529 | 9.979936 | 82.77862 | 0 | 0.099998 | -0.2 | RGB1041.jpeg | 57.01529 | 9.979936 | 82.77862 | 0 | 0.099998 | -10.6839 | RGB1041.jpeg | 57.01529 | 9.979936 | 82.77862 | 0 | 0.099998 | 10.28388 |
| RGB1042.jpeg | 57.01529 | 9.979933 | 82.72506 | -1.432 | -1.26613 | 7.830324 | RGB1042.jpeg | 9.979933 | 57.01529 | 82.73797 | -1.3919 | -1.26122 | 7.814042 | RGB1042.jpeg | 9.979933 | 57.01529 | 82.73943 | -1.37414 | -1.26067 | 7.813062 | RGB1042.jpeg | 57.01529 | 9.979937 | 83.27402 | 0 | 0 | -0.2 | RGB1042.jpeg | 57.01529 | 9.979937 | 83.27402 | 0 | 0 | -11.7784 | RGB1042.jpeg | 57.01529 | 9.979937 | 83.27402 | 0 | 0 | 11.37839 |
Calibration_comparison_2.xlsx This is the second test, here the yaw was mirrored by (yaw*-1). Before the data was mesured the magnetic, imu sensors and gimbal where re calibrated Results seems to be bad as well, just easier to see the difference.
| Calibrated | longitude | Column1 | altitude | Omega | Phi | Kappa | Raw | longitude | Column1 | altitude | Omega | Phi | Kappa |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RGB1001.jpeg | 9.97956731 | 57.01515153 | 75.49017398 | 5.41239382 | 1.74412451 | 9.12847557 | RGB1001.jpeg | 9.979585 | 57.01515 | 78.44866 | 0 | 0.099998 | 0 |
| RGB1002.jpeg | 9.97955856 | 57.01515454 | 76.5572119 | 0.30129669 | 0.4086983 | -9.05449997 | RGB1002.jpeg | 9.979584 | 57.01515 | 78.94523 | 0 | 0.099998 | 0 |
| RGB1003.jpeg | 9.97957497 | 57.01515496 | 77.57926915 | 0.41878435 | 1.02582651 | -10.72711874 | RGB1003.jpeg | 9.979583 | 57.01516 | 78.98726 | 0 | 0.099998 | -0.1 |
| RGB1004.jpeg | 9.97957402 | 57.01515893 | 78.49037765 | 0.45639684 | 1.03945215 | -10.96927199 | RGB1004.jpeg | 9.979582 | 57.01516 | 79.40874 | 0 | 0 | -0.2 |
| RGB1005.jpeg | 9.97958776 | 57.01517582 | 79.06076708 | 3.4036019 | -5.10563404 | -63.59579539 | RGB1005.jpeg | 9.97961 | 57.01518 | 81.93739 | 0 | 6 | -53.7 |
| RGB1006.jpeg | 9.9795941 | 57.01517989 | 79.02550146 | 3.4234015 | -5.2373959 | -64.08518541 | RGB1006.jpeg | 9.979622 | 57.01519 | 81.51605 | 0 | 6.099998 | -54.1 |
| RGB1007.jpeg | 9.97961622 | 57.01519177 | 78.86074038 | 3.38797705 | -5.30335211 | -64.89266506 | RGB1007.jpeg | 9.979646 | 57.0152 | 81.20976 | 0 | 6.300003 | -54.5 |
| RGB1008.jpeg | 9.9796274 | 57.01519811 | 78.81553321 | 3.43531302 | -5.45628485 | -65.09763777 | RGB1008.jpeg | 9.979661 | 57.01521 | 80.08509 | 0 | 6.300003 | -54.7 |
| RGB1009.jpeg | 9.97965263 | 57.01521158 | 78.76184416 | 3.46456058 | -5.54988548 | -65.44235026 | RGB1009.jpeg | 9.979688 | 57.01523 | 80.08751 | 0 | 6.199997 | -55.1 |
| RGB1010.jpeg | 9.97968951 | 57.01522895 | 78.7091074 | 3.4702792 | -5.4074395 | -65.85255947 | RGB1010.jpeg | 9.979722 | 57.01524 | 79.81143 | 0 | 6.400002 | -54.9 |
| RGB1011.jpeg | 9.97970864 | 57.01523971 | 78.7150847 | 3.52619009 | -5.55662782 | -65.79446059 | RGB1011.jpeg | 9.979743 | 57.01526 | 79.7418 | 0 | 6.300003 | -54.9 |
| RGB1012.jpeg | 9.97972653 | 57.0152485 | 78.74583703 | 3.58342664 | -5.57118723 | -65.74951333 | RGB1012.jpeg | 9.979762 | 57.01527 | 79.97653 | 0 | 6.300003 | -54.9 |
| RGB1013.jpeg | 9.97982416 | 57.01530782 | 78.76190524 | 1.7551213 | -6.60631276 | -79.06977341 | RGB1013.jpeg | 9.979863 | 57.01532 | 80.16192 | -0.1 | 6.800003 | -82.9 |
| RGB1014.jpeg | 9.98029709 | 57.01549183 | 79.26721159 | 1.76115094 | 0.53498856 | -10.45788796 | RGB1014.jpeg | 9.980319 | 57.0155 | 79.7798 | 0 | 0 | 1 |