forked from ZhanLi/UWBIns
26 lines
947 B
Mathematica
26 lines
947 B
Mathematica
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function settings = uwb_imu_example_settings()
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settings.sigma_uwb = 0.5; % UWB测距噪声
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settings.sigma_acc = 0.02; %加速度计噪声
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settings.sigma_gyro = deg2rad(0.3); %陀螺仪噪声
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settings.sigma_acc_bias = 0.00; %加速度计零偏随机游走噪声
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settings.sigma_gyro_bias = deg2rad(0.0); %陀螺仪零偏随机游走噪声
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% Initial Kalman filter uncertainties (standard deviations)
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settings.factp(1) = 20; % 初值位置方差(置信度)(m)，越大代表对初始位置越不信任
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settings.factp(2) = 1; % 初值速度方差( [m/s]
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settings.factp(3:5) = deg2rad([1 1 20]); % 初始i姿态方差 (roll,pitch,yaw) [rad]
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settings.factp(6) = 0.01; % 初始加速度零偏方差 [m/s^2]
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settings.factp(7) = deg2rad(0.01); % 初始角速度零偏方差 [rad/s]
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end
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