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Published 20 hours ago • verified publisher icon hyye

lidar-imu initialization

Open llpan91 opened this issue 5 years ago • 2 comments

I confused with the coarse gravity solver， “ tmp_A = 0.5 * I3x3 * (dt12 * dt12 * dt23 + dt23 * dt23 * dt12); tmp_b = (pl2 - pl1) * dt23 - (pl3 - pl2) * dt12 + (rl2 - rl1) * plb * dt23 - (rl3 - rl2) * plb * dt12 + rl2 * rlb * dp23 * dt12 + rl1 * rlb * dv12 * dt12 * dt23 - rl1 * rlb * dp12 * dt23;” how to construct the least squares method for gravity ？ thanks for you

llpan91 avatar Aug 28 '19 09:08 llpan91

You may find some useful information here, https://github.com/hyye/lio-mapping/issues/4#issuecomment-494632602.

hyye avatar Aug 28 '19 09:08 hyye

Hi @llpan91, Do you figure out what is the residual, when calculating the initial global gravity? Thanks a lot !

narutojxl avatar Jun 15 '20 12:06 narutojxl