To validate the algorithm, some need to be validated in the inertial navigation data set. Find some open source data set, either too complicated or unclear description. In this article, I chose to use simulation to generate ROS Gazebo inertial navigation data. Algorithms for subsequent use.
3D environment data in UAVs simulator, see references 1-2. Data in two-dimensional environments Turtlebox. The following specific recorded data acquisition process.
- Turtlebox run the simulation.
- Run rosbag record -a, record all topic.
- Run time alignment script. See Code: generate_data_from_turtlebot.m
A, Turtlebox coordinate system as follows:
Right-handed, Northeast days coordinate system.
Two, GPS data
In the gazebo, the use of GPS coordinates as a global information use.
Three, IMU data
1. x-axis acceleration, yaw angular velocity
x-axis acceleration, angular velocity Yaw, gps x-axis data is displayed together, it can be seen:
- As can be seen from 0-20s, x-axis accelerometer has an acceleration, yaw angular velocity is zero.
- As can be seen from the 20s, the robot has a decelerating while turning yaw angle along the positive direction, the local coordinate system described is a front - left - upper, in line with expectations.
2. y-axis acceleration, z-axis acceleration
As can be seen:
- z-axis direction acceleration is very small, almost in a plane which matches the running turtle.
3. roll angular velocity, pitch angular velocity
- roll angle and pitch angle changes are very small.
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