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Showing SKILL.md
| name | sensor-fusion-locate |
| description | 多传感器融合定位 — 激光雷达+相机+IMU+GPS 融合 (EKF/UKF)，实现厘米级定位精度，适用于自动驾驶和精密机器人 |
| argument-hint | 定位 OR localization OR EKF OR sensor fusion OR GPS OR IMU OR 激光雷达 OR 融合 OR landmark |
| user-invocable | true |
融合激光雷达、相机、IMU、GPS（可选）实现机器人厘米级定位。
agents/skills/navigation/ — 导航agents/skills/perception/ — 感知agents/skills/ros2-debug/ — 调试传感器输入:
Laser Scan → Scan Matching → 位姿观测
IMU → 线性加速度/角速度 → 预测步
Camera → 特征点匹配 → 视觉里程计
GPS → 绝对位置 (UTM) → 修正步
EKF 状态: [x, y, z, roll, pitch, yaw, vx, vy, vz]
| 传感器 | 权重 | 说明 |
|---|---|---|
| 激光雷达 Scan Matching | 高 | 室内精度 < 0.05m |
| 视觉里程计 | 中 | 纹理丰富时 |
| IMU | 预测 | 频率高但漂移 |
| GPS | 低 | 仅室外开阔区域 |