Adding lever arm to generated gnss data #100
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Dear team of NaveGo, %%%%%%%%%%%%%%%%%%%%%%%%% for i=1:size(gnss.t) [RM,RN] = radius(gnss_r.lat(i)); end gnss.t = gnss_r.t; gnss.larm = zeros(3,1); % comment this line to account for the lever arm, else the code will not correct for it end is this method valid or not? and doesn't the lever arm also affect the gnss velocity? |
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Hello, Thank you for your kind words. It seems that your code is not right. In function Your code has to do the opposite of what these two formulas do:
Kind regards. |
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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:
(DCMbn * gnss.larm)
for position.((omega_ie_n + omega_en_n) * (DCMbn * gnss.larm))' - (DCMbn * skewm(wb_corrected) * gnss.larm)' )
for velocities.Kind regards.