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rtk 定位模块 vehicle frame 下 acc等信息没有根据惯导的安装外参做转换？ #15647

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huboyan opened this issue Feb 13, 2025 · 1 comment
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rtk 定位模块 vehicle frame 下 acc等信息没有根据惯导的安装外参做转换？ #15647

huboyan opened this issue Feb 13, 2025 · 1 comment

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@huboyan
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huboyan commented Feb 13, 2025

在定位模块中只有vehile frame 的欧拉角根据惯导的外参做了转换，其它信息貌似默认外参为0直接计算了，这对吗？不影响planning和control?
@hearto1314
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再具体一点呢，天线头到imu的转换是惯导内部做的，定位模块里面有imu到后轴中心的转换，msf里面有天线到imu参数是因为msf是基于天线头定位信息做SINS融合

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@huboyan @hearto1314