Compare and Contrast…

the 2m squared flight tracked with fused IMU, LiDAR and Video…

Fusion tracking

Fusion tracking

against GPS:

GPS tracking

GPS tracking

The vertical axis for fusion is the height in meters; for the GPS, it’s the number of satellites. This is complete garbage; a standard chart shows more clearly what’s happening:

2D GPS track

2D GPS track

The difference between the 1st and 2nd GPS has an error of roughly -27 by -11 meters after which, every following dot seems to be a combination of the square tracking combined with some sort of settling which slowly removes the error initial -27 by -11 error.  It’s time I did more investigation into how to handle a GPS warm-boot.

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