此文件用于双目视觉与IMU标定后的结果对VINS-Fusion进行运行
解决博客可能的跑飞问题：
roslaunch realsense2_camera rs_imu_stereo.launch
roslaunch vins vins_rviz.launch
rosrun vins vins_node src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config_my.yaml
2022-05-27 19:09:24
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RS Decoder (31,19,6) v1.1
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This project consists of 8 verilog files including a testbench file.
The files are:
- RSDecoder.v : contains description of top module of the decoder. It combines
5 modules of typical RS Decoder building blocks.
- scblock.v : contains description of the SC (Syndrome Computation) block and its
submodules.
- kesblock.v : KES (Key Equation Solver) block and its submodules.
- cseeblock.v : CSEE (Chien Search and Error Evaluator) block and parallel
invers multiplier module. CSEE is the only block in the decoder
that use invers multiplier to compute error magnitude using Fourney
Formula.
- controller.v : describes controller module. It consists of 2 FSMs and 2 counters.
- fifo_register.v : a FIFO register consists of 31 registers to store received word and
a register to synchronize outputted data with CSEE block.
- common_modules.v: this file contains basic modules that used by other higher modules.
It behaves like a library for the project.
- testbench.v : the testbench contains 3 different received word vectors. First
received word contains no error symbol. Second word contains 6 error
symbols and the last word contains 8 error symbols.
Limitations in this version:
Despite its high data rates, the decoder has some limitations that must be considered.
- It flags decoding failure at the end of outputted word. So, other block outside the
decoder cannot differentiate between uncorrected word and corrected word until it
receive decoding failure flag at the end of the word.
- Decoding failure is detected when degree of error location polynomial and
number of its roots is not equal. It means the error location polynomial doesn't
have roots in the underlying GF(2^5). To determine the roots, decoder must activate
CSEE block first. Hence, decoding failure is detected after all elements in
GF(2^5) have been evaluated.
- Uncorrectable word still have to be summed with wrong error values. Because decoding
failure is detected at the end of word, there is no other mechanism to solve
the problem, unless decoder start to output the word after all GF(2^5) elements
has been evaluated.
Hopefully, in next version, limitations above can be solved.
Rudy Dwi Putra
rudy.dp@gmail.com
2022-05-27 09:23:34
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华为HCIA-RS(H12-211) v2.5题库第二部分,有需要可下载，走过路过不要错过，第一部分也在上传中，欢迎下载
2022-05-26 22:07:32
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