Reply to Share the driver test data with the OpenIMU300ZI INS App(1.1 firmware version) plus Ublox M8N on Thu, 19 Sep 2019 02:09:27 GMT

Li YiFan — Thu, 19 Sep 2019 02:09:27 GMT

Wuxi_2019_09_19_07_56_52.csv

Reply to Share the driver test data with the OpenIMU300ZI INS App(1.1 firmware version) plus Ublox M8N on Thu, 19 Sep 2019 03:40:45 GMT

Wangguotong — Thu, 19 Sep 2019 03:40:45 GMT

@Li-YiFan 这个结果看起来非常棒，如果我使用NMEA信息输入可以得到类似的结果吗，它（NMEA）比ublox-bin输入具体缺少哪些东西呢，我是否可以直接添加缺失的数据来做呢，因为我想使用rtk结果输入，它只能输出nmea或者经纬度高以及协方差信息

Reply to Share the driver test data with the OpenIMU300ZI INS App(1.1 firmware version) plus Ublox M8N on Thu, 19 Sep 2019 06:54:59 GMT

Dong xiaoguang — Thu, 19 Sep 2019 06:54:59 GMT

缺失的数据包括：垂直方向的速度，定位精度等等。对于垂直方向的速度，NMEA驱动里面内置了一个根据高度来估计垂直速度的算法，对于定位精度，NMEA驱动里会根据HDOP来估计精度，尽管不准确，但是可以使用。对于rtk，由于其定位定速精度都很高，算法内设置的一些阈值可能并不合适，需要自行进行调整。具体可以阅读代码看需要提供哪些GPS信息。

void GetGPSData(gpsDataStruct_t *data)
{
    data->gpsUpdate        =  ( gGpsDataPtr->updateFlagForEachCall >> GOT_VTG_MSG ) & 0x00000001 &&
                               ( gGpsDataPtr->updateFlagForEachCall >> GOT_GGA_MSG ) & 0x00000001;
    // gGpsDataPtr->updateFlagForEachCall &= 0xFFFFFFFD;
    if(data->gpsUpdate)
    {
        // Reset GPS update flag only when pos and vel are both available
        gGpsDataPtr->updateFlagForEachCall &= 0xFFFFFFFC;

        data->gpsFixType        = gGpsDataPtr->gpsFixType;
        data->numSatellites     = gGpsDataPtr->numSatellites;

        data->latitude          = gGpsDataPtr->lat;
        data->longitude         = gGpsDataPtr->lon;
        data->altitude          = gGpsDataPtr->alt;

        data->vNed[0]           = gGpsDataPtr->vNed[0];
        data->vNed[1]           = gGpsDataPtr->vNed[1];
        data->vNed[2]           = gGpsDataPtr->vNed[2];

        data->trueCourse        = gGpsDataPtr->trueCourse;
        data->rawGroundSpeed    = gGpsDataPtr->rawGroundSpeed;

        data->GPSSecondFraction = gGpsDataPtr->GPSSecondFraction; 

        data->itow              = gGpsDataPtr->itow;       
        data->GPSmonth          = gGpsDataPtr->GPSmonth;
        data->GPSday            = gGpsDataPtr->GPSday;
        data->GPSyear           = gGpsDataPtr->GPSyear;  
        data->GPSHour           = gGpsDataPtr->GPSHour;
        data->GPSMinute         = gGpsDataPtr->GPSMinute; 
        data->GPSSecond         = gGpsDataPtr->GPSSecond; 

        data->HDOP              = gGpsDataPtr->HDOP;
        data->GPSHorizAcc       = gGpsDataPtr->GPSHorizAcc;
        data->GPSVertAcc        = gGpsDataPtr->GPSVertAcc;
        data->geoidAboveEllipsoid = gGpsDataPtr->geoidAboveEllipsoid;
    }
}