基于改进MSCKF的无人机室内定位方法
王思鹏,杜昌平,宋广华,郑耀
Indoor positioning method of UAV based on improved MSCKF algorithm
Si-peng WANG,Chang-ping DU,Guang-hua SONG,Yao ZHENG
表 1
2条轨迹下3种算法的定位误差
Tab.1
Positioning error of three algorithms for two trajectories
算法
误差/m
轨迹1
轨迹2
本文算法
0.226
0.266
OpenVins
0.498
0.644
LARVIO
0.575
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