YuujinHwang / loosely

Loosely coupled gps-ins algorithm with misalignment self-calibration

loosely

Loosely coupled gps-ins algorithm with misalignment self-calibration

Usage

.mat file with carsim

• import mat file
• set initial values in carsim_conv.m
• run carsim_conv.m
• plot with fmtplot.m

.bag file with ros

• open rosins.m
• edit the bagfile name in first line
• run rosins.m
• if you want, manually plot data in 'sol' structure.