GNSS/ IMU coupling Navego #154
Replies: 4 comments
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Further sir what is the purpose of line 12 and 13 |
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Hello Omer, This line of pseudo code awarded that the INS/GNSS system started when at least one GNSS measurement was available (tG(1))
This line of pseudo code was to indicate that a new GNSS measurement had to be available available ( tG(kG) ) before execution the Kalman filter. The paper states that NaveGo master clock is GNSS clock but this is no longer true. Currently, the INS clock is NaveGo's master clock (for more details see Line 237 in d6e6b45 In the main README.md file we inform that this and previous papers about NaveGo are outdated. We are looking for volunteers to update the documentation (see issue #108), but it seems nobody has time. |
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Dr Rodralez
Sir thanks indeed for your valuable comments.
Let us know any assistance required for updating the documentation as you have mentioned. We can volunteer for that.
Thanks again
Omer
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…________________________________
From: Rodrigo Gonzalez ***@***.***>
Sent: Wednesday, February 8, 2023 11:36:45 PM
To: rodralez/NaveGo ***@***.***>
Cc: OmerZiaSiddiqui ***@***.***>; Author ***@***.***>
Subject: Re: [rodralez/NaveGo] GNSS/ IMU coupling Navego (Discussion #154)
Dr Rodrigo Gonzalez,
Sir, we are working on GNSS/ IMU coupling and had a chance to study your valuable paper (https://www.researchgate.net/publication/279239503) on the subject.
While understanding the Algorithm 2 at page 7, we feel that line 16 is contracting line 13 of the algorithm as stated below:
12: Guarantee that tG(1) < tS (1) =< tG(2)
Hello Omer,
This line of pseudo code awarded that the INS/GNSS system started when at least one GNSS measurement was available (tG(1))
13: Guarantee that tS (kS−1) < tG(kG) =< tS (kS )
This line of pseudo code was to indicate that a new GNSS measurement had to be available available ( tG(kG) ) before execution the Kalman filter.
The paper states that NaveGo master clock is GNSS clock but this is no longer true. Currently, the INS clock is NaveGo's master clock (for more details see https://github.com/rodralez/NaveGo/blob/d6e6b45279d78b7fef816660118143f6815b30a2/ins-gnss/ins_gnss.m#L237 )
In the main README.md file we inform that this and previous papers about NaveGo are outdated. We are looking for volunteers to update the documentation (see issue #108<#108>), but it seems nobody has time.
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Dr Rodrigo Gonzalez
I noticed that I have mistakenly spelled your good name incorrectly in my last email. For sure it happened erroneously, please accept my pardon for that.
Thanks
Omer
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…________________________________
From: Omer Siddiqui ***@***.***>
Sent: Thursday, February 9, 2023, 12:02 AM
To: rodralez/NaveGo ***@***.***>; rodralez/NaveGo ***@***.***>
Cc: Author ***@***.***>
Subject: Re: [rodralez/NaveGo] GNSS/ IMU coupling Navego (Discussion #154)
Dr Rodralez
Sir thanks indeed for your valuable comments.
Let us know any assistance required for updating the documentation as you have mentioned. We can volunteer for that.
Thanks again
Omer
Get Outlook for Android<https://aka.ms/AAb9ysg>
________________________________
From: Rodrigo Gonzalez ***@***.***>
Sent: Wednesday, February 8, 2023 11:36:45 PM
To: rodralez/NaveGo ***@***.***>
Cc: OmerZiaSiddiqui ***@***.***>; Author ***@***.***>
Subject: Re: [rodralez/NaveGo] GNSS/ IMU coupling Navego (Discussion #154)
Dr Rodrigo Gonzalez,
Sir, we are working on GNSS/ IMU coupling and had a chance to study your valuable paper (https://www.researchgate.net/publication/279239503) on the subject.
While understanding the Algorithm 2 at page 7, we feel that line 16 is contracting line 13 of the algorithm as stated below:
12: Guarantee that tG(1) < tS (1) =< tG(2)
Hello Omer,
This line of pseudo code awarded that the INS/GNSS system started when at least one GNSS measurement was available (tG(1))
13: Guarantee that tS (kS−1) < tG(kG) =< tS (kS )
This line of pseudo code was to indicate that a new GNSS measurement had to be available available ( tG(kG) ) before execution the Kalman filter.
The paper states that NaveGo master clock is GNSS clock but this is no longer true. Currently, the INS clock is NaveGo's master clock (for more details see https://github.com/rodralez/NaveGo/blob/d6e6b45279d78b7fef816660118143f6815b30a2/ins-gnss/ins_gnss.m#L237 )
In the main README.md file we inform that this and previous papers about NaveGo are outdated. We are looking for volunteers to update the documentation (see issue #108<#108>), but it seems nobody has time.
—
Reply to this email directly, view it on GitHub<#154 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/A5XA6HTBUACYDD5KWIDPYOLWWPRT3ANCNFSM6AAAAAAUTP2Q4Q>.
You are receiving this because you authored the thread.Message ID: ***@***.***>
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Dr Rodrigo Gonzalez,
Sir, we are working on GNSS/ IMU coupling and had a chance to study your valuable paper (https://www.researchgate.net/publication/279239503) on the subject.
While understanding the Algorithm 2 at page 7, we feel that line 16 is contracting line 13 of the algorithm as stated below:
We will be thankful if you can share your expert opinion on the above, please.
Thanks
Omer Zia Siddiqui
PhD Scholar at NUST, Pakistan
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