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Adding lever arm to generated gnss data #100

Answered by rodralez
Mostafa-NA asked this question in Q&A
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Hello,

Thank you for your kind words.

It seems that your code is not right.

In function ins_gnss.m lever arm effect is corrected for position (lines 330 and 331), and for velocities (lines 334 and 335).

Your code has to do the opposite of what these two formulas do:

  1. Substracting (DCMbn * gnss.larm) for position.
  2. Adding ((omega_ie_n + omega_en_n) * (DCMbn * gnss.larm))' - (DCMbn * skewm(wb_corrected) * gnss.larm)' ) for velocities.

Kind regards.

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@Mostafa-NA
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@rodralez
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