完善INS-ECEF机械编排函数

Erensu · Apr 30, 2019 · 827b769 · 827b769
1 parent 163bafd
commit 827b769
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Showing 4 changed files with 234 additions and 60 deletions.
diff --git a/.gitignore b/.gitignore
@@ -29,3 +29,17 @@ test/data/
 !/bin/
 /test/
 !/test/
+bin/navapp.rslt~
+include/sse2neonbinding.h~
+src/ins-gnss/app/igvonav.cc~
+src/ins-gnss/ins-gnss-vo-lc-preintegration.cc~
+src/ins-gnss/ins-gnss-vo-lc.cc~
+src/ins-gnss/ins-gnss-vo.cc~
+src/ins-gnss/ins-libfast.cc~
+src/ins-gnss/ins-vo-opencv-interface.cc~
+src/ins-gnss/rcv/ground-truth.cc~
+src/ins-gnss/sbas.cc~
+src/ins-gnss/sse2neon-binding.cc~
+src/ins-gnss/visio.cc~
+src/msckf-python/__pycache__/
+test/test_ins_gnss_vo_sim.cc~
diff --git a/src/ins-gnss/ins-back-mech.cc b/src/ins-gnss/ins-back-mech.cc
@@ -20,6 +20,7 @@
 #define INSUPDPRE  1                  /* inertial navigation equations precision */
 #define E_SQR      0.00669437999014   /* sqr of linear eccentricity of the ellipsoid */
 #define UPD_INS_E  0                  /* updates ins states in e-frame */
+#define SCULL_CORR 1                  /* rotational and sculling motion correction */
 
 /* save precious epoch ins states--------------------------------------------*/
 static void savepins(insstate_t *ins,const imud_t *data)