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results.txt
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minmax = 5.141101695977755, i = 350
Best iteration for max: 350, Roll: 00110.00, Pitch: -0030.00, Yaw: 00005.00
minrms = 2.194669422698870, i = 28
Best iteration for rms: 28, Roll: 00120.00, Pitch: 00030.00, Yaw: -0060.00
minmax = 5.073159403165512, i = 286
Best iteration for max: 286, Roll: 00110.51, Pitch: 00021.54, Yaw: -0002.31
minrms = 2.095240060782710, i = 229
Best iteration for rms: 229, Roll: 00112.05, Pitch: 00037.95, Yaw: -0061.79
minmax = 5.070849191528025, i = 627
Best iteration for max: 627, Roll: 00110.38, Pitch: 00034.67, Yaw: -0007.18
minrms = 2.094077704025195, i = 476
Best iteration for rms: 476, Roll: 00110.26, Pitch: 00040.87, Yaw: -0059.23
minmax = 5.069660058622728, i = 544
Best iteration for max: 544, Roll: 00110.46, Pitch: 00030.15, Yaw: -0004.47
minrms = 2.093881553862412, i = 35
Best iteration for rms: 35, Roll: 00110.15, Pitch: 00040.87, Yaw: -0061.37
minmax = 5.069343717140962, i = 110
Best iteration for max: 110, Roll: 00110.10, Pitch: 00029.00, Yaw: -0004.21
minrms = 2.093812908892531, i = 594
Best iteration for rms: 594, Roll: 00110.03, Pitch: 00041.00, Yaw: -0061.79
Best max: 0005.063, rms is 0002.238
Best iteration for max: 349, AttUnc: 4.4690708, VelUnc: 0000.256, PosUnc: 0008.974
Best rms: 0002.214, max is 0005.067
Best iteration for rms: 531, AttUnc: 4.4690708, VelUnc: 0008.462, PosUnc: 0010.000
Best max: 0004.839, rms is 0002.092
Best iteration for max: 1122, AttUnc: 0001.184, VelUnc: 0010.000, PosUnc: 0006.898
Best rms: 0001.930, max is 0005.238
Best iteration for rms: 896, AttUnc: 0003.939, VelUnc: 0000.694, PosUnc: 0000.500
Best max: 0005.011, rms is 0002.109
Best iteration for max: 571, aBiasUnc: 6250.552, gBiasUnc: 1151.395
Best rms: 0001.930, max is 0005.284
Best iteration for rms: 422, aBiasUnc: 5179.475, gBiasUnc: 7543.120
Best max: 4.6469762, rms is 2.0587783
Best iteration for max: 75, epoch: 0.0149498
Best rms: 2.0587783, max is 4.6469762
Best iteration for rms: 75, epoch: 0.0149498
Best max: 4.6502636, rms is 2.0593255
Best iteration for max: 20, epoch: 0.0149487
Best rms: 2.0593255, max is 4.6502636
Best iteration for rms: 20, epoch: 0.0149487
Best max: 004.8374, rms is 002.1361
Best iteration for max: 316, GNoise: 01.51724, ANoise: 100.00000, ABias: 00.00000, GBias: 00.00004
Best rms: 001.9860, max is 005.2397
Best iteration for rms: 144, GNoise: 03.24138, ANoise: 5298.31691, ABias: 00.00000, GBias: 00.00020
>> gyro_noise_PSD(gyro_noise_i(i)), accel_noise_PSD(accel_noise_i(i)), accel_bias_PSD(accel_bias_i(i)), gyro_bias_PSD(gyro_bias_i(i))
ans = 1.517241379310345
ans = 100
ans = 2.395026619987486e-07
ans = 4.175318936560400e-05
>> gyro_noise_PSD(gyro_noise_i(i)), accel_noise_PSD(accel_noise_i(i)), accel_bias_PSD(accel_bias_i(i)), gyro_bias_PSD(gyro_bias_i(i))
ans = 3.241379310344827
ans = 5.298316906283708e+03
ans = 7.880462815669905e-07
ans = 2.043359717856944e-04
Best max: 04.85827, rms is 01.95171
Best iteration for max: 93, PosSD: 00.44138, VelSD: 00.10000
Best rms: 01.95171, max is 04.85827
Best iteration for rms: 93, PosSD: 00.44138, VelSD: 00.10000
Best max: 04.65281, rms is 01.96659
Best iteration for max: 2, PosSD: 00.56207, VelSD: 00.22069
Best rms: 01.94208, max is 04.89068
Best iteration for rms: 440, PosSD: 01.58621, VelSD: 00.22069
latest rresults
>> initialize_and_run
Please select Applanix log file
Please select NovAtel log file
Please select IMU log file
RMS Raw:1.934515
Max Raw:4.347060
RMS Filter:1.971142
Max Filter:4.632780
Best max: 004.1175, rms is 002.1280
Best iteration for max: 523, GNoise: 02.66667, ANoise: 2154.43469, ABias: 1.60372e-05, GBias: 1.70125e-08
Best rms: 001.9228, max is 004.6826
Best iteration for rms: 267, GNoise: 04.46154, ANoise: 412.46264, ABias: 2.15443e-05, GBias: 1.00000e-06
IdleTimeout has been reached.
Best max: 04.62861, rms is 01.99402
Best iteration for max: 1817, Roll: -100.00000, Pitch: -9.09091, Yaw: 74.54545
Best rms: 01.98431, max is 04.66902
Best iteration for rms: 96, Roll: -100.00000, Pitch: 103.63636, Yaw: 34.54545
AFTER FLIPPING IMU AXES:
Best max: 04.17185, rms is 02.06839
Best iteration for max: 58, Roll: -13.96552, Pitch: -3.62069, Yaw: -31.03448
Best rms: 01.93510, max is 04.27995
Best iteration for rms: 24, Roll: -15.00000, Pitch: 11.89655, Yaw: -68.27586
Best max: 04.12482, rms is 02.03989
Best iteration for max: 90, Roll: 130.34483, Pitch: 167.58621, Yaw: -155.17241
Best rms: 01.92199, max is 04.26372
Best iteration for rms: 882, Roll: -43.44828, Pitch: 155.17241, Yaw: -68.27586
Best max: 04.14223, rms is 02.05260
Best iteration for max: 1876, Roll: -28.77551, Pitch: 28.77551, Yaw: 03.67347
Best rms: 01.92633, max is 04.26967
Best iteration for rms: 1813, Roll: -28.77551, Pitch: -20.20408, Yaw: -69.79592
Best max: 04.26933, rms is 01.92550
Best iteration for max: 737, AttUnc: 01.00000, VelUnc: 00.74359, PosUnc: 05.61538
Best rms: 01.92543, max is 04.26942
Best iteration for rms: 184, AttUnc: 01.00000, VelUnc: 06.34615, PosUnc: 00.74359
Best max: 0004.145, rms is 0002.032
Best iteration for max: 71, aBiasUnc: 0372.759, gBiasUnc: 0868.511
Best rms: 0001.923, max is 0004.247
Best iteration for rms: 81, aBiasUnc: 1676.833, gBiasUnc: 0372.759
Best max: 004.0447, rms is 001.9481
Best iteration for max: 182, GNoise: 01.51282, ANoise: 366.52412, ABias: 2.72833e-06, GBias: 1.00000e-08
Best rms: 001.9012, max is 004.4728
Best iteration for rms: 890, GNoise: 05.74359, ANoise: 522.33451, ABias: 5.87802e-08, GBias: 5.87802e-06
Best max: 004.0640, rms is 001.9379
Best iteration for max: 116, ABias: 3.45511e-07, GBias: 1.19378e-08
Best rms: 001.8994, max is 004.3653
Best iteration for rms: 717, ABias: 1.70125e-08, GBias: 4.12463e-06
Best max: 04.10034, rms is 01.94739
Best iteration for max: 26, n: 501
Best rms: 01.91357, max is 04.10034
Best iteration for rms: 70, n: 1381
Best max: 04.10034, rms is 01.92069
Best iteration for max: 1, n: 400
Best rms: 01.89092, max is 04.10034
Best iteration for rms: 15, n: 470
Best max: 03.66126, rms is 01.91532
Best iteration for max: 1955, Roll: -28.77551, Pitch: -30.00000, Yaw: -106.53061
Best rms: 01.91244, max is 03.66583
Best iteration for rms: 295, Roll: -27.55102, Pitch: -18.97959, Yaw: -84.48980
IdleTimeout has been reached.
Best max: 03.66210, rms is 01.91372
Best iteration for max: 692, AttUnc: 01.46939, VelUnc: 00.50000, PosUnc: 04.08163
Best rms: 01.91092, max is 03.66759
Best iteration for rms: 983, AttUnc: 00.69388, VelUnc: 09.25510, PosUnc: 00.89796
IdleTimeout has been reached.
AFTER DOING WEIRD GPS ADJUSTMENTS
Best max: 03.79578, rms is 01.91124
Best iteration for max: 71, Roll: -30.00000, Pitch: -5.17241, Yaw: -117.93103
Best rms: 01.89092, max is 04.04785
Best iteration for rms: 192, Roll: -30.00000, Pitch: 25.86207, Yaw: -142.75862
IdleTimeout has been reached.
Best max: 04.00624, rms is 01.89681
Best iteration for max: 1146, AttUnc: 03.02041, VelUnc: 19.20408, PosUnc: 17.61224
Best rms: 01.87915, max is 04.14951
Best iteration for rms: 1225, AttUnc: 00.69388, VelUnc: 18.40816, PosUnc: 20.00000
IdleTimeout has been reached.
Best max: 004.0411, rms is 001.8781
Best iteration for max: 1202, ABias: 4.92388e-06, GBias: 1.00000e-08
Best rms: 001.8765, max is 004.0442
Best iteration for rms: 193, ABias: 1.00000e-05, GBias: 1.00000e-08
Best max: 4.0246721, rms is 1.8737139
Best iteration for max: 161, epoch: 0.0122072
Best rms: 1.8687211, max is 4.2254964
Best iteration for rms: 712, epoch: 0.0370270
Best max: 03.54675, rms is 01.87287
Best iteration for max: 1277, Roll: -40.42373, Pitch: -8.38983, Yaw: -125.08475
Best rms: 01.85211, max is 03.71435
Best iteration for rms: 2092, Roll: -43.47458, Pitch: 11.44068, Yaw: -149.49153
AFTER FUCKIN SHIT UP (using a "correct" attitude)
Best max: 0004.112, rms is 0001.964
Best iteration for max: 1060, aBiasUnc: 1264.855, gBiasUnc: 0100.000
Best rms: 0001.949, max is 0004.137
Best iteration for rms: 1897, aBiasUnc: 10000.000, gBiasUnc: 0193.070
>> initialize_and_run
Best max: 004.1221, rms is 001.9565
Best iteration for max: 1202, ABias: 4.92388e-06, GBias: 1.00000e-08
Best rms: 001.9268, max is 004.4532
Best iteration for rms: 695, ABias: 1.42510e-06, GBias: 1.00000e-05
RMS 2D Raw: 1.9345m
Max 2D Raw: 4.3471m
RMS 2D Filter: 1.9947m, -3.11% change
Max 2D Filter: 5.1778m, -19.11% change
RMS 3D Raw: 2.9424m
Max 3D Raw: 6.0439m
RMS 3D Filter: 2.2701m, 22.85% change
Max 3D Filter: 5.3034m, 12.25% change
Best max: 005.1805, rms is 001.9963
Best iteration for max: 643, ANoise: 9.38837e+02, GNoise: 1.00000e+01
Best rms: 001.9962, max is 005.1856
Best iteration for rms: 1669, ANoise: 1.00000e+03, GNoise: 9.59188e+00
Best max: 005.0484, rms is 001.9870
Best iteration for max: 355, ABias: 1.00000e-04, GBias: 2.57191e-08
Best rms: 001.9524, max is 005.5268
Best iteration for rms: 640, ABias: 1.00000e-04, GBias: 1.19378e-05
Best max: 4.6631838, rms is 1.9051942
Best iteration for max: 1, Lever Arm: -0.1000000
Best rms: 1.7980611, max is 5.3490202
Best iteration for rms: 268, Lever Arm: 0.5691729
\
Best max: 5.0770359, rms is 1.9756379
Best iteration for max: 126, Lever Arm: 0.2562814
Best rms: 1.8173886, max is 6.0093519
Best iteration for rms: 73, Lever Arm: -0.2763819
Y COMPONENT
Best max: 4.8920651, rms is 1.8552576
Best iteration for max: 188, GPS Correction: 0.5016722
Best rms: 1.8225049, max is 5.5847987
Best iteration for rms: 216, GPS Correction: 0.8762542
X COMPONENT