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请问为什么这个GPS的轨迹融合之后偏差这么大 #36

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Dong6971 opened this issue Jul 1, 2024 · 2 comments
Open

请问为什么这个GPS的轨迹融合之后偏差这么大 #36

Dong6971 opened this issue Jul 1, 2024 · 2 comments

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@Dong6971
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Dong6971 commented Jul 1, 2024

微信图片_20240701164034 GPS轨迹前半段是重合的，后半段有误差，最后闭环的时候融合后的轨迹与实际轨迹有很大偏差
@kahowang
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您好，谢谢您的关注，不知道您这个场景的大小，实际建图中，SLAM轨迹与GPS轨迹有差异是正常的，因为，GPS本身存在误差，SLAM同样存在误差，SLAM回环后能保证局部地图一致性良好，但不能保证在FGPS的坐标系下，轨迹一致。

@Dong6971
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感谢作者，但是实际上是SLAM轨迹在中间，GPS轨迹在右边，实际融合之后的轨迹却是在左边，往反方向上纠了，这个问题是正常的吗？？

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@kahowang @Dong6971