Dear Danny
I don't see any way this could be provided as a type of correction
information. Is it possible?
Basically all is possible because all of the source codes
are open.
However, I recommend loosely-coupled integration
implemented outside of RTKLIB.
For tightly-coupled integration, you have to modify the
filter code deeply. It mignt be hard way.
regards,
Tomoji TAKASU
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From: "Danny Miller" <[email protected]>
Sent: Tuesday, June 21, 2011 8:45 AM
To: "Open Source GPS-related discussion and support"
<[email protected]>
Subject: [FOSS-GPS] Dead Reckoning?
I plan on making a rover with an IMU containing XYZ linear accelerometers,
rotational accelerometers, and 3D magnetometer compass.
There will also be tachometers on the wheels.
This serves to orient the rover with a compass heading, and detect
collisions or loss of traction. It may also help in short-term navigation
should the RTKlib lose carrier lock.
Could this information be integrated as correction information for RTKlib?
The IMU has inherent offset errors and is not accurate over significant
time periods, and tachometers are inaccurate on rough ground since tires
slip. It can, however, provide guidance for RTK solutions when the
solution is in doubt. Going from a Fixed solution to a float that jumps
over 2M, the IMU's evidence that no such motion occurred should be a
useful correction. Now given 30 sec of motion, assuming it's been moving,
the IMU's range of error is such that the IMU vector from the last known
Fixed time could be several meters. Even still, I would expect that
having information on how the rover is moving would improve the ability to
resolve to an accurate solution.
I don't see any way this could be provided as a type of correction
information. Is it possible?
Thanks,
Danny
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