Localization

SKILL — uav_localization

miuav c0aef24 806 B Updated

File contents

SKILL — uav_localization

无人机定位技能

Tools

  • gps_fusion: GPS + IMU + 气压计 EKF 融合
  • vio_node: 视觉惯性里程计(VIO: rtabmap_ros, okvis, VINS-Fusion)
  • SLAM: 激光/视觉 SLAM(slam_toolbox, fast_lio)

Usage

无人机精确定位,室内外无缝切换:

  • 室外:robot_localization ekf_node 融合 GPS + IMU
  • 室内:VIO(Intel T265/Realsense D455i)或激光 SLAM
  • 室外→室内切换:GPS 失效时自动切换 VIO(需要可靠触发)

Tips

  • GPS 精度受多路径影响(高楼旁误差可达 5m),需要 RTK 修正
  • T265 VIO 在快速旋转时容易丢帧,IMU 带宽 200Hz 以上
  • EKF 输出频率建议 50-100Hz,输出 odombase_link TF

miuav/vibe-coding-ros2/tree/main/agents/skills/multi_rotor_uav/localization commit c0aef24687

Frequently asked questions

npx skillmds@latest add miuav/localization-4