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sqrt(cov) [m]
0.2
x-axis
0.1
y-axis
0 z-axis
0 20 40 60 80 100 120
time [s]
sqrt(cov) [m/s]
速度协方差
0.05
x-axis
y-axis
z-axis
0
0 20 40 60 80 100 120
time [s]
sqrt(cov) [deg]
航向协方差
0.5
Roll
Pitch
Yaw
0
0 20 40 60 80 100 120
time [s]
高度
20
z [m]
10
0
0 20 40 60 80 100 120
time [s]
速度
4
|v| [m/s]
0
0 20 40 60 80 100 120
time [s]
Zupt 检测
1
on/off
0.5
0
0 20 40 60 80 100 120
time [s]
轨迹
轨迹
15 起始点
10
0
y [m]
-5
-10
-15
-20
-25
10
0
y [m]
-5
-10
-15
10 轨迹
起始点
0
y [m]
-5
-10
-15
-20
-35 -30 -25 -20 -15 -10 -5 0
x [m]