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轨迹跟随 #112

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w0928 opened this issue Jan 9, 2025 · 2 comments
Open

轨迹跟随 #112

w0928 opened this issue Jan 9, 2025 · 2 comments

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@w0928
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w0928 commented Jan 9, 2025

我使用了fast lio算法来提供里程计，当我使用mid 360自带的imu运行fast lio时轨迹跟随的效果不错，
lidar
但是当我用飞控的imu来运行fast lio时（已经做了lidar和imu的标定，imu的频率也到达200hz），轨迹跟随的效果很差，导致避不开障碍物，想请问下可能的原因出在哪里？
mavros
@bigsuperZZZX
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大概率还是标定有问题，比如俩传感器时间差没标好。
建议直接mid 360自带的imu，我们也是用雷达自带imu的。

@w0928
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w0928 commented Jan 10, 2025

好的，感谢您的回复，使用自带的imu里程计很容易漂移，这种情况正常么

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@bigsuperZZZX @w0928