(window.webpackJsonp=window.webpackJsonp||[]).push([[56],{378:function(_,t,v){"use strict";v.r(t);var a=v(10),c=Object(a.a)({},(function(){var _=this,t=_._self._c;return t("ContentSlotsDistributor",{attrs:{"slot-key":_.$parent.slotKey}},[t("h1",{attrs:{id:"问题-无法获取经纬度信息"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#问题-无法获取经纬度信息"}},[_._v("#")]),_._v(" 问题：无法获取经纬度信息")]),_._v(" "),t("cite-panel",{attrs:{title:"问题：无法从 MSG_GEODETIC_POS 获取经纬度，或 MSG_INS/GPS 中 NED 数据异常，原因是什么？"}},[t("p",[t("strong",[_._v("答：")]),_._v(" 两类现象通常由同一机制引起。")]),_._v(" "),t("p",[t("code",[_._v("MSG_GEODETIC_POS (0x5C)")]),_._v(" 与 "),t("code",[_._v("MSG_INS/GPS")]),_._v(" 中的位置、速度均为 "),t("strong",[_._v("GNSS/INS 组合导航结果")]),_._v("（经纬高与 NED 的关系见 "),t("RouterLink",{attrs:{to:"/FQA/FQA_deta100/NED和ECEF.html"}},[_._v("NED 与 ECEF")]),_._v("）。")],1),_._v(" "),t("p",[_._v("组合导航生效前，系统会根据 GNSS 的水平精度 "),t("code",[_._v("Hacc")]),_._v(" 与垂直精度 "),t("code",[_._v("Vacc")]),_._v(" 判断是否融合。默认阈值为：")]),_._v(" "),t("ul",[t("li",[_._v("水平："),t("code",[_._v("Hacc")]),_._v(" < 1.8 m")]),_._v(" "),t("li",[_._v("垂直："),t("code",[_._v("Vacc")]),_._v(" < 3.5 m")])]),_._v(" "),t("p",[_._v("当实时 "),t("code",[_._v("Hacc")]),_._v("、"),t("code",[_._v("Vacc")]),_._v("（可在上位机右侧 "),t("strong",[_._v("Status Details")]),_._v(" 中查看）均小于阈值时，组合导航生效："),t("code",[_._v("MSG_GEODETIC_POS")]),_._v(" 开始输出经纬度，同时 "),t("code",[_._v("MSG_INS/GPS")]),_._v(" 的 NED 原点被确定（详见 "),t("RouterLink",{attrs:{to:"/FQA/FQA_deta100/NED坐标系原点设置.html"}},[_._v("NED 坐标系原点设置")]),_._v("）。")],1),_._v(" "),t("fdi-img",{attrs:{width:"80%",alt:"Hacc/Vacc 阈值参数",src:"/FQA/FQA_DETA100/图片5.png",caption:""}}),_._v(" "),t("p",[_._v("若外接 GNSS 精度较差、长期无法进入阈值，可在 "),t("strong",[_._v("Onboard Parameters")]),_._v(" 中手动放宽阈值：修改后点击 "),t("strong",[_._v("Transmit")]),_._v("，再点击 "),t("strong",[_._v("Write Flash")]),_._v(" 保存。")])],1)],1)}),[],!1,null,null,null);t.default=c.exports}}]);