Developing a robot automatic back pile charging module wants to use the laser point cloud of autoware to provide positioning, but the positioning of autoware is always lost
Therefore, if you want to use the IMU data to provide positioning for the robot's inverted pile, first write a post to record the development process
The unfiltered pure integral node is very poor, so only IMU is considered to solve the robot pose here.
Formulas and codes used
IMU data integration to obtain the current pose https://www.cnblogs.com/glxin/p/9851909.html
imu integral positioning https://blog.csdn.net/ktigerhero3/article/details/91361770
IMU positioning / pose tracking (IMU_localization or IMU_pose_tracking) https://blog.csdn.net/learning_tortosie/article/details/102633850
Note: Quaternions need to be normalized
to learn in the future
theory
IMU theory series posts https://www.zhihu.com/people/wang-wei-xin-72-20/posts
Formula derivation of VIO learning - IMU articles https://blog.csdn.net/haxiongha/article/details/95966147
How to understand IMU and its pre-integration https://zhuanlan.zhihu.com/p/38009126
Derivation of IMU pre-integration formula based on median integral https://blog.csdn.net/w1130466404/article/details/103707542
Madgwick algorithm (on) https://blog.csdn.net/shenxiaolu1984/article/details/50650494
Fusion of IMU and odometer https://blog.csdn.net/baimei4833953/article/details/80768762
IMU combined attitude calculation https://download.csdn.net/download/weixin_40874498/10611424?utm_source=iteye_new
IMU noise parameter identification - Allen variance https://zhuanlan.zhihu.com/p/158927004
IMU&GPS fusion positioning:: IMU attitude calculation https://blog.csdn.net/dieju8330/article/details/103103298
Application of GPS and IMU (inertial navigation) in unmanned driving https://blog.csdn.net/ywcpig/article/details/82886531
practice
Interpretation of robot_pose_ekf source code https://blog.csdn.net/zhxue_11/article/details/83828877
Robot_pose_ekf code process detailed https://blog.csdn.net/feidaji/article/details/88908430
Tutorial - robot_pose_ekf https://www.ncnynnl.com/archives/201708/1909.html
IMU position calculation simple test https://zhuanlan.zhihu.com/p/165388495
Quaternion kinematics for ESKF [part 3] https://zhuanlan.zhihu.com/p/1
IMU correction and attitude fusion https://blog.csdn.net/shenshikexmu/article/details/80013444
IMU: A collection of attitude calculation algorithms https://blog.csdn.net/wwws1994/article/details/108591750
Multiple IMU posts https://www.zhihu.com/people/DongShengYang/posts
GPS+IMU data fusion MATLAB program
https://download.csdn.net/download/qq_24605439/11609829?utm_medium=distribute.pc_relevant_t0.none-task-download-2defaultBlogCommendFromMachineLearnPai2default-1.control&depth_1-utm_source=distribute.pc_relevant_t0.none-task-download-2defaultBlogCommendFromMachineLearnPai2default-1.control
IMU navigation solution program https://download.csdn.net/download/qq_29361055/8845431
Pure imu positioning navigation.zip https://download.csdn.net/download/qq_34338528/11803231
IMU data integration to obtain the current pose https://aiethan.blog.csdn.net/article/details/108322181