gps image-time attitude 拟合精度

pkg/auxilary/att.go

@@ -18,7 +18,7 @@ func (atts Attitudes) Save(attFile string) error {
 	defer f.Close()
 
 	for _, att := range atts.Atts {
-		content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f\n", att.UTCTimestampSec, att.Q0, att.Q1, att.Q2, att.Q3)
+		content := fmt.Sprintf("%.6f %.8f %.8f %.8f %.8f\n", att.UTCTimestampSec, att.Q0, att.Q1, att.Q2, att.Q3)
 		f.WriteString(content)
 	}
 
@@ -112,7 +112,7 @@ func ExtractAttitude(aps []*AuxPlatform) *Attitudes {
 			sec, microsec = ap.UTCTimeSec, ap.Microsecond
 			att := Attitude{
 				UTCTimestampSec: float64(sec) + float64(ReferenceTime2000) +
-					float64((microsec))/1e6,
+					float64(transfromGPSandAttMicrosec(microsec))/1e6,
 				Q0: ap.QuatAttstarQ0,
 				Q1: ap.QuatAttstarQ1,
 				Q2: ap.QuatAttstarQ2,