lankun/sjy01-image-proc
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gps image-time attitude 拟合精度

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nuknal
2024-09-05 15:10:21 +08:00
parent df6090df21
commit 52638b5ffe
8 changed files with 35 additions and 24 deletions
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8
pkg/auxilary/gps.go
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@@ -20,7 +20,7 @@ func (g GPSs) Save(gpsFile string) error {
defer f.Close()
for _, gps := range g.GPSs {
content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f %.8f %.8f\n",
content := fmt.Sprintf("%.6f %.8f %.8f %.8f %.8f %.8f %.8f\n",
gps.UTCTimestampSec,
gps.X84, gps.Y84, gps.Z84,
gps.Vx84, gps.Vy84, gps.Vz84)
@@ -37,9 +37,9 @@ func (g GPSs) Lagrange(t float64) *GPS {
var gps_sample []*GPS
var idx int
if t < g.GPSs[0].UTCTimestampSec {
if t-g.GPSs[0].UTCTimestampSec < 1e-7 {
return g.GPSs[0]
} else if t > g.GPSs[len(g.GPSs)-1].UTCTimestampSec {
} else if t-g.GPSs[len(g.GPSs)-1].UTCTimestampSec > -1e-7 {
return g.GPSs[len(g.GPSs)-1]
}
@@ -98,7 +98,7 @@ func StoreGPS(aps []*AuxPlatform, gpsFile string) (*GPSs, error) {
interGPS.GPSs = append(interGPS.GPSs, gpss.Lagrange(t))
}
return gpss, interGPS.Save(gpsFile)
return gpss, gpss.Save(gpsFile)
}
func ExtractGPS(aps []*AuxPlatform) *GPSs {