数据集说明:
所有数据集均为实测机器人跑车数据,无仿真数据。
| 数据集 | 基站数 | 平面or3D | 说明 |
| ------ | ------ | -------- | ------------------------------------------------------------ |
| datas1 | 4 | 2D | 机器人U型跑车数据,机器人走走停停,速度不稳定 |
| datas2 | 4 | 2D | 机器人圆形轨迹跑车数据,机器人匀速运动,运动形状简单规则,可以用来初步验证算法 |
| datas3 | 4 | 2D | 机器人走一个典型赛道轨迹, 基本匀速,比较典型的实测数据 |
| datas4 | 4 | 2D | 相较于datas3 运动更复杂,场地更大. 机动更剧烈 |
| datas5 | 4 | 2D | 类似datas4 |
| datas5 | 4 | 2D | 类似datas4 |
数据集采集指导:
如果您自己第一次采集数据做实验,建议:
1. 建议IMU 100Hz, UWB 1-10Hz左右
2. 用小车或者汽车,不要用手拿着,避免很多随机机动。
3. 开始静止至少30s, 然后绕大8子,每个8子绕完不少于30s。 可以走走停停。做完一个比较标准(好识别)的动作后 静止几秒,再做下一个,比较典型的有八字,L型, 绕圈等
4. 运动结束后最好也停止30s。
没有合适的资源?快使用搜索试试~ 我知道了~
温馨提示
基于的matlab导航科学计算库 教学性质的: GPS IMU经典15维ESKF松组合 VRU/AHRS姿态融合算法 捷联惯导速度位置姿态解算例子 UWB IMU紧组合融合 每个例子自带数据集 运行环境: 最低版本: MATLAB R2022a, 必须安装sensor fusion toolbox和navigation tool box 需要将\lib及其子目录加入MATLAB预设目录, 或者运行一下根目录下的init.m
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