Displayed error for GNSS/IMU coupling

[Adrienmangini]

Hello to all,

I have an error when I run the ins_gnss function.
Indeed, the error seems to appear in the file "att_update". The error is as follows:
Error using att_update (line 73)
att_update: no attitude update mode defined.

Do you have an idea?

Thank you very much!

[rodralez]

Hello,

The declaration of function att_update is:

[qua, DCMbn, euler] = att_update(wb, DCMbn, qua, omega_ie_n, omega_en_n, dt, att_mode)

Two attitude modes can be set: dcm and quaternion. If no att_mode is provided, the quaternion mode is the default attitude mode.

Maybe you misspelled the attitude mode, as cuaternion or dcn. In this case, no attitude mode will be set.

Kind regards.

[Adrienmangini]

Thank you for your answer and your great work.

I am testing on my IMU and GNSS data carried by the human when running.
Do you think the coupling is feasible?

Thank you very much in advance.

[rodralez]

Well, I have used navigation systems mounted on cars mostly.

Nevertheless, I think it is important for the runner to change heading frequently and run at a faster pace in order to make the Kalman filter states observable. You can check how many states are observable during the trajectory by analyzing the nav_e.ob variable.

It could be nice to know your results using NaveGo in human-mounted sensors.

Kind regards.

[Adrienmangini]

Thank you for your reactivity and your advice.

I am working on the details. In the nav_e.obj variable, I get only 0's. In input, I don't know if I should enter particular values since, in my case, I use human.

[Adrienmangini]

Also, when I run "ins_gnss", it gives me Warning: pos_update: altitude is negative.

Thank you in advance for your answer

[rodralez]

Thank you for your reactivity and your advice.

I am working on the details. In the nav_e.obj variable, I get only 0's. In input, I don't know if I should enter particular values since, in my case, I use human.

Well, this means that all Kalman states are unobservable. This is a problem.

Generally, the main problem is the tuning or adjustment of the Kalman filter. In my opinion, this is the first problem you have to solve.

[hanegeyavuz]

Also, when I run "ins_gnss", it gives me Warning: pos_update: altitude is negative.

Thank you in advance for your answer

did u solve the "altitude is negative" problem?