(window.webpackJsonp=window.webpackJsonp||[]).push([[373],{685:function(t,_,v){"use strict";v.r(_);var e=v(10),a=Object(e.a)({},(function(){var t=this,_=t._self._c;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"外部辅助输入数据融合说明"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#外部辅助输入数据融合说明"}},[t._v("#")]),t._v(" 外部辅助输入数据融合说明")]),t._v(" "),_("p",[t._v("系统支持外接位置、速度、姿态等传感器进行辅助组合导航，以获得更高的导航精度。需要按照我们给定的格式输入相关数据，格式里的标准差数据默认是需要给定的，否则外部融合不生效，下面从三部分对外部输入数据融合进行说明。")]),t._v(" "),_("h2",{attrs:{id:"外部辅助数据格式"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#外部辅助数据格式"}},[t._v("#")]),t._v(" 外部辅助数据格式")]),t._v(" "),_("p",[t._v("其输入格式必须符合FDILink协议格式，具体可见第11章第一节数据帧定义部分：\n")]),_("body",[_("table",[_("tbody",[_("tr",[_("td",{staticStyle:{"text-align":"center"}},[_("br")]),t._v(" "),_("td",{staticStyle:{"text-align":"center"},attrs:{colspan:"5"}},[_("b",[t._v("帧头")])]),t._v(" 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"),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Yaw_standard_deviation")]),t._v(" "),_("td",[t._v("rad")]),t._v(" "),_("td",[t._v("偏航角标准差")]),t._v(" "),_("td",[_("strong",[t._v("用户给定，不能为0")])])])])]),t._v(" "),_("p",[t._v("下面给出External SLAM1输入数据的一帧示例：")]),t._v(" "),_("p",[t._v("FC 92 48 9A 86 31 0B 00 00 00 00 00 00 00 00 00 00 00 00 "),_("a",{staticStyle:{color:"#c60c30","font-weight":"600"}},[t._v("00 00 A0 40")]),t._v(" 00 00 00 00 00 00 00 00 "),_("a",{staticStyle:{color:"#24C60C","font-weight":"600"}},[t._v("CD CC CC 3D")]),t._v(" CD CC 4C 3E 00 00 00 3F 00 00 00 00 00 00 00 00 00 00 00 00 "),_("a",{staticStyle:{color:"#0C18C6","font-weight":"600"}},[t._v("0A D7 23 3C")]),t._v(" 0A D7 23 3C 0A D7 23 3C "),_("a",{staticStyle:{color:"#BA0CC6","font-weight":"600"}},[t._v("6F 12 83 3A")]),t._v(" 6F 12 83 3A 6F 12 83 3A FD")]),t._v(" "),_("p",[t._v("其中红色标注数据"),_("a",{staticStyle:{color:"#c60c30","font-weight":"600"}},[t._v("00 00 A0 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