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add rosbag

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libing64 2016-03-17 10:22:41 +08:00
parent 703c0fabee
commit 53bf5d561f
1 changed files with 5 additions and 3 deletions
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README.md
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@ -1,9 +1,6 @@
# att_ekf # att_ekf
Extented Kalman filter for attitude estimation using imu and magnetic filed. Extented Kalman filter for attitude estimation using imu and magnetic filed.
![att_ekf](https://cloud.githubusercontent.com/assets/3192355/13601467/57c2536e-e56b-11e5-82d5-25c8cbc9657f.png)
![att_ekf2](https://cloud.githubusercontent.com/assets/3192355/13601468/57edef42-e56b-11e5-927f-b453604b09f0.png)
# How to run the code # How to run the code
cd catkin_ws/src cd catkin_ws/src
@ -19,6 +16,11 @@ Extented Kalman filter for attitude estimation using imu and magnetic filed.
2. replay the rosbag 2. replay the rosbag
rosbag play 2016-02-29-19-05-57.bag rosbag play 2016-02-29-19-05-57.bag
![att_ekf](https://cloud.githubusercontent.com/assets/3192355/13601467/57c2536e-e56b-11e5-82d5-25c8cbc9657f.png)
![att_ekf2](https://cloud.githubusercontent.com/assets/3192355/13601468/57edef42-e56b-11e5-927f-b453604b09f0.png)
# reference: # reference:
https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf