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id="scroll-down"><i class="fas fa-angle-down scroll-down-effects"></i></div></header><main class="layout" id="content-inner"><div class="recent-posts" id="recent-posts"><div class="recent-post-item"><div class="post_cover left"><a href="/2024/03/03/WP-008-3Mar2024/" title="记录最近两个月的GVIO硬件搭建经历"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="记录最近两个月的GVIO硬件搭建经历"></a></div><div class="recent-post-info"><a class="article-title" href="/2024/03/03/WP-008-3Mar2024/" title="记录最近两个月的GVIO硬件搭建经历">记录最近两个月的GVIO硬件搭建经历</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2024-03-03T13:00:48.000Z" title="Created 2024-03-03 21:00:48">2024-03-03</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2024-03-03T14:46:54.942Z" title="Updated 2024-03-03 22:46:54">2024-03-03</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class=&
E880
quot;article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content">有些日子没更新blog了，过年期间发生了很多事情，笔者的科研进度一度陷入停滞，近期重心逐渐转移到毕业上了；自去年12月底初步实现idea之后，一直想把这个G-V-I odom的idea在实体车上进行实验，但是硬件平台搭建过程中遇到的麻烦超乎我的想象；这周主要处理多传感器同步的问题，另外，简单草拟了一下毕业论文的大纲
今天晚上，第一次成功采集到真实世界的数据，并成功跑通V-I-O（月黑风高，明天再去采集含有GNSS的数据）；趁着周末，忙里偷闲总结一下最近几个月搭建硬件平台的经历。
绪论笔者的idea涉及的sensor主要有单目RGB camera、惯导IMU、GNSS，另外还需要一个搭建一个厘米级精度的真值系统（1-2cm）在此基础上，需要对各传感器硬件进行选型，并搭建一个运动底盘；
一、VI sensor 选型1.调研VI sensor成品visual-IMU传感器，顾名思义，这是一个可以同时采集IMU和camera数据的传感器，笔者一开始调研了市面上成品的VI sensor，发现了HKUST（港科大）发的paper中使用最多的这款：这款sensor 使用的camera传感器是MT9V ...</div></div></div><div class="recent-post-item"><div class="post_cover right"><a href="/2023/12/31/WP-007-31Dec2023/" title="WP-007-31Dec2023"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="WP-007-31Dec2023"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/12/31/WP-007-31Dec2023/" title="WP-007-31Dec2023">WP-007-31Dec2023</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-12-31T13:22:14.000Z" title="Created 2023-12-31 21:22:14">2023-12-31</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-12-31T13:26:41.974Z" title="Updated 2023-12-31 21:26:41">2023-12-31</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content">一、本周做了什么
整理近期的工作（论文）整理第二章method and material以及第三章purposed method部分（文字、流程图等）
配置小车RTK传感器购买了ublox-f9p传感器和对应的天线，提供GPS定位信息，并安装在小车上
确定车试路线根据商家提供的小车续航信息确定车试路线
二、下周计划
完成车试数据采集
完成近期工作整理的初稿
</div></div></div><div class="recent-post-item"><div class="post_cover left"><a href="/2023/12/24/WP-006-24Dec2023/" title="WP-006-24Dec2023"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="WP-006-24Dec2023"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/12/24/WP-006-24Dec2023/" title="WP-006-24Dec2023">WP-006-24Dec2023</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-12-24T13:47:43.000Z" title="Created 2023-12-24 21:47:43">2023-12-24</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-12-24T14:01:22.311Z" title="Updated 2023-12-24 22:01:22">2023-12-24</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content">一、本周做了什么
读AI辅助GNSS outages的文献 阅读了十几篇AI辅助GNSS outages相关领域的文献，并进行了整理，将作为Related work部分
完成了LSTM付出GNSS定位算法仿真实验、流程图绘制等 本周对上周初步的仿真结果进行了参数调整，详见附件PPT
花了两天时间做了NN直接预测伪距和多普勒的实验，效果不佳，暂时放弃
整理近期工作的PPT并准备组会汇报
二、下周计划
增加实验对比（RTKLIB、VINS-Fusion等），归纳整理
购买ublox zed f9p定位模块并学习使用方法
将定位模块安装在小车上，并去室外采集实验数据
附件：本阶段工作整理PPT
</div></div></div><div class="recent-post-item"><div class="post_cover right"><a href="/2023/12/17/WeeklyReport-005-17Dec2023/" title="WeeklyReport-005-17Dec2023"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg2.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="WeeklyReport-005-17Dec2023"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/12/17/WeeklyReport-005-17Dec2023/" title="WeeklyReport-005-17Dec2023">WeeklyReport-005-17Dec2023</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-12-17T11:04:27.000Z" title="Created 2023-12-17 19:04:27">2023-12-17</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-12-17T12:03:05.331Z" title="Updated 2023-12-17 20:03:05">2023-12-17</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content"> 工作周报 时间: 2023-12-11 ~ 2023-12-17
一、本周做了什么1. 增加训练集/测试集数据，并进行训练上周用于实验的数据太少了，导致模型训练出来的效果不好，本周对数据集进行了扩充，序列长度由5min增加到25min.目前可供使用的数据有：
原始量测：IMU（a w）、GNSS（psr、 dopplar）初步处理：IMU预积分数据、融合输出：GVINS结果（GNSS有效）、VINS结果（GNSS无效）真值系统：RTK真值
扩充后训练效果好了很多，效果展示如下：
数据集：sports_field —– 5mins(4mins-train 1min-eval)数据集：1510秒，train:eval = 8：2 = 20mins:5mins
NN 描述：2 layers LSTM with 64 hidden layerloss funcation : MSEoptimizer:Adam betas=(0.9, 0.999), eps=1e-08, weight_decay=0
input: imu ...</div></div></div><div class="recent-post-item"><div class="post_cover left"><a href="/2023/12/14/GNSS%E6%97%B6%E9%97%B4%E7%B3%BB%E7%BB%9F%E5%8F%8A%E5%85%B6%E8%BD%AC%E6%8D%A2/" title="GNSS时间系统及其转换"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg2.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="GNSS时间系统及其转换"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/12/14/GNSS%E6%97%B6%E9%97%B4%E7%B3%BB%E7%BB%9F%E5%8F%8A%E5%85%B6%E8%BD%AC%E6%8D%A2/" title="GNSS时间系统及其转换">GNSS时间系统及其转换</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-12-14T06:23:41.000Z" title="Created 2023-12-14 14:23:41">2023-12-14</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-12-14T07:06:55.016Z" title="Updated 2023-12-14 15:06:55">2023-12-14</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/GVINS/">GVINS</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/GVINS/NaN/">NaN</a></span><span class="article-meta tags"><span class="article-meta-separator">|</span><i class="fas fa-tag"></i><a class="article-meta__tags" href="/tags/GVINS/">GVINS</a></span></div><div class="content">GNSS 时间系统及其转换1. 时间单位-原子时秒原子时秒长的定义为：位于海平面上的铬133原于基态两个超精细能级，在零磁场中跃迁辐射振荡9192631770周所持续的时间，为1原子时秒。
2. 时间框架和其时间起点2.1 原子时（AT）原子时起点定在1958年1月1日0时0分0秒（UT），即规定在这一瞬间原子时时刻与世界时刻重合。但事后发现，在该瞬间原子时与世界时的时刻之差为0.0039秒。这一差值就作为历史事实而保留下来。即：
$ UT = AT + 0.0039 $
原子时的出现，在全球各国获得迅速的应用，但不同地方的原子时之间存在着差异。为此，国际时间局对世界上精选出的100座原子钟进行相互比对，经数据处理推算出统一的原子时系统，称为国际原子时(international atomic time，IAT)。
2.2 世界时（UT）地球上零经度子午圈(格林尼治子午圈)所对应的平太阳时且以平子夜为零时起算的时间系统，称为世界时（UT）。所谓平太阳时，是指通过观测太阳连续两 次经过本地子午圈的时间间隔为一个平太阳日。
世界时是以地球自转为基础定义的。但是，如前所述，地球自转 ...</div></div></div><div class="recent-post-item"><div class="post_cover right"><a href="/2023/12/10/WeeklyReport-004-10Dec2023-md/" title="WeeklyReport-004-10Dec2023.md"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg3.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="WeeklyReport-004-10Dec2023.md"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/12/10/WeeklyReport-004-10Dec2023-md/" title="WeeklyReport-004-10Dec2023.md">WeeklyReport-004-10Dec2023.md</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-12-10T09:54:46.000Z" title="Created 2023-12-10 17:54:46">2023-12-10</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-12-10T11:05:02.906Z" title="Updated 2023-12-10 19:05:02">2023-12-10</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content"> 工作周报 时间: 2023-12-04 ~ 2023-12-10
一、本周做了什么1. 训练GNSS中断场景下的LSTM网络使用sport_field数据集前5分钟数据进行训练和推理，其中前四分钟用于训练，后一分钟用于模型推理。
第一种：端到端方案训练时：模型输入为：经过IMU预积分后的位姿（P、V、Q），GVINS融合后的位姿（GNSS有效）想让模型可以学习到这样的函数关系：GNSS有效下的融合位姿 = f(IMU预积分后的位姿)评价：这个思路是端到端的来看LSTM的效果，有点极端。GNSS失效时，仅仅依靠模型推理融合后的位姿。
第二种：退化松耦合方案模型输入为：经过IMU预积分后的位姿（P、V、Q），GNSS有效情况时输出的经纬高（LLA）想让模型可以学习到这样的函数关系：LLA = f(IMU预积分后的位姿)
2. 构建LSTM效果评估方法评估采用的工具是evo，采用RTK在fix解下的LLA数据作为真值，仅评估三轴位置精度，，所有的结果均转换到东北天（ENU）坐标系下进行评价评估指标采用业界常用的APE和RPE指标，关注各个指标的最大值、最小值、 ...</div></div></div><div class="recent-post-item"><div class="post_cover left"><a href="/2023/12/03/WeeklyReport-003-03Dec2023/" title="WeeklyReport-003-03Dec2023"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg2.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="WeeklyReport-003-03Dec2023"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/12/03/WeeklyReport-003-03Dec2023/" title="WeeklyReport-003-03Dec2023">WeeklyReport-003-03Dec2023</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-12-03T11:57:47.000Z" title="Created 2023-12-03 19:57:47">2023-12-03</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-12-03T12:34:10.842Z" title="Updated 2023-12-03 20:34:10">2023-12-03</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content">一、本周做了什么1. GVINS 代码功能增加1.1 捋清GVINS代码逻辑进一步研究了GVINS的代码逻辑，理清了其中的关键变量、关键函数，增加了详细的注释在我的github主页可以看到git@github.com:wxtcon/gvins_comments_by_damon.git（对GVINS的所有修改都会push到github上）
1.2 增加虚拟串口输出功能虚拟串口主要是为了方便代码调试，可以通过虚拟串口在另一个终端打印调试信息，并通过终端输入调试参数
1.3 增加地图轨迹显示功能地图轨迹显示主要是为了写论文的时候将真实轨迹和算法的推理轨迹放在叠加在google地图中（我看别人的论文都是这么做的）我使用python写了一个脚本，实现了输入LLA在地图上显示轨迹的功能代码在我的github上，路径为：GVINS/script/map_track_visual.py效果如图所示：
2. 数据集生成在GVINS中增加了保 ...</div></div></div><div class="recent-post-item"><div class="post_cover right"><a href="/2023/11/26/WeeklyReport-002-26Nov2023/" title="周报-002-26Nov2023"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="周报-002-26Nov2023"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/11/26/WeeklyReport-002-26Nov2023/" title="周报-002-26Nov2023">周报-002-26Nov2023</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-11-26T03:37:45.000Z" title="Created 2023-11-26 11:37:45">2023-11-26</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-11-26T09:05:05.763Z" title="Updated 2023-11-26 17:05:05">2023-11-26</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content"> 工作周报 时间: 2023-11-20 ~ 2023-11-26
一、本周做了什么1. pytorch扫盲学习pytorch的常用模块，并以CIFAR10编程实现一个图片分类网络以熟悉使用费pytorch进行NN搭建&训练的流程学习笔记：https://www.damonai.cn/2023/11/25/learn-pytorch/学习代码：github.com/wxtcon/learn_pytorch
2. GVINS-dataset数据提取为了实现离线训练NN，需要将ros bag转为csv格式数据，写了一个脚本，实现rosbag按topic提取数据并写入csv中
3. DL扫盲参考B站资料对Loss Fun、正则化、CNN、RNN、LSTM、GRU等知识点进行了扫盲
二、下周怎么安排
写一个提取GVINS误差的代码原始的GVINS-dataset中只有星历、伪距这些数据，不能进行网络的训练，无法直接在GNSS拒止状态下输出GVINS误差，需要先跑一遍GVINS代码，把各个传感器的误差项提取出来
用GNSS误差数据对LSTM—NN进行离线训 ...</div></div></div><div class="recent-post-item"><div class="post_cover left"><a href="/2023/11/25/learn-pytorch/" title="Pytorch入门笔记"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="Pytorch入门笔记"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/11/25/learn-pytorch/" title="Pytorch入门笔记">Pytorch入门笔记</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-11-24T17:06:59.000Z" title="Created 2023-11-25 01:06:59">2023-11-25</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-11-24T17:12:53.873Z" title="Updated 2023-11-25 01:12:53">2023-11-25</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content">Pytorch入门笔记参考资源：bilibili - 我是土堆url : https://www.bilibili.com/video/BV1hE411t7RN/?spm_id_from=333.999.0.0&vd_source=9761a01d2f08a7425632b3ad97cccf18
一、 数据加载与预处理1. pytorch加载数据Dataset的使用
123456789101112131415161718192021222324252627282930313233343536from torch.utils.data import Datasetfrom PIL import Imageimport osclass MyData(Dataset): def __init__(self, root_dir, label_dir): self.root_dir = root_dir self.label_dir = label_dir self.path = os.path.join(self.root_dir, se ...</div></div></div><div class="recent-post-item"><div class="post_cover right"><a href="/2023/11/18/WeeklyReport-001-19Nov2023/" title="周报-001-19Nov2023"><img class="post-bg" src="https://cdn.jsdelivr.net/gh/jerryc127/CDN@latest/cover/default_bg.png" onerror="this.onerror=null;this.src='/img/404.jpg'" alt="周报-001-19Nov2023"></a></div><div class="recent-post-info"><a class="article-title" href="/2023/11/18/WeeklyReport-001-19Nov2023/" title="周报-001-19Nov2023">周报-001-19Nov2023</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time class="post-meta-date-created" datetime="2023-11-18T08:31:02.000Z" title="Created 2023-11-18 16:31:02">2023-11-18</time><span class="article-meta-separator">|</span><i class="fas fa-history"></i><span class="article-meta-label">Updated</span><time class="post-meta-date-updated" datetime="2023-11-26T03:41:17.416Z" title="Updated 2023-11-26 11:41:17">2023-11-26</time></span><span class="article-meta"><span class="article-meta-separator">|</span><i class="fas fa-inbox"></i><a class="article-meta__categories" href="/categories/NaN/">NaN</a><i class="fas fa-angle-right article-meta-link"></i><a class="article-meta__categories" href="/categories/NaN/NaN/">NaN</a></span></div><div class="content"> 工作周报 时间: 2023-11-13 ~ 2023-11-18
一、本周做了什么本周主要同步推进paper和硬件小车这两件事，主要有：
Paper Reading：在 GNSS-Visual-Inertial-odometry(GVIO) 领域阅读文献多篇，其中精读3篇，并完成Reading Note（纸质），
Paper Writing: 完成了论文的（通用）部分，主要包含：坐标系的转换描述、因子图原理、Introduction部分的骨架等。
Code Reading: 捋完了GVINS的框架，将其作为Code-Baseline在这上面修改。
学习LSTM，并基于LSTM完成了一个股票数据的预测，算作入门。
调校小车：摸清了 传感器数据采集→STM32数据收集和转发→PC机（ubuntu+ROS）的全流程；将计算任务转移到个人PC上运行；在线运行ORB-SLAM2纯视觉建图效果一般但不卡；将小车部分的启动步骤、参数细节整理成了文档。
制作做CAC会议海报，来重庆开会。
二、有什么收获/启发/问题2.1 Paper Reading - GVIO ...</div></div></div><nav id="pagination"><div class="pagination"><span class="page-number current">1</span><a class="page-number" href="/page/2/#content-inner">2</a><a class="extend next" rel="next" href="/page/2/#content-inner"><i class="fas fa-chevron-right fa-fw"></i></a></div></nav></div><div class="aside-content" id="aside-content"><div class="card-widget card-info"><div class="is-center"><div class="avatar-img"><img src="/img/head_image.jpeg" onerror="this.onerror=null;this.src='/img/friend_404.gif'" alt="avatar"/></div><div class="author-info__name">Damon</div><div class="author-info__description">Welcome to my blog!</div></div><div class="card-info-data site-data is-center"><a href="/archives/"><div class="headline">Articles</div><div class="length-num">12</div></a><a href="/tags/"><div class="headline">Tags</div><div class="length-num">2</div></a><a href="/categories/"><div class="headline">Categories</div><div class="length-num">5</div></a></div><a id="card-info-btn" target="_blank" rel="noopener" href="https://github.com/wxtcon"><i class="fab fa-github"></i><span>To my Github...</span></a><div class="card-info-social-icons is-center"><a class="social-icon" href="https://github.com/wxtcon" target="_blank" title="Github"><i class="fab fa-github" style="color: #24292e;"></i></a><a class="social-icon" href="mailto:wxtcon@163.com" target="_blank" title="Email"><i class="fas fa-envelope" style="color: #4a7dbe;"></i></a></div></div><div class="card-widget card-announcement"><div class="item-headline"><i class="fas fa-bullhorn fa-shake"></i><span>Announcement</span></div><div class="announcement_content">Welcome to my blog page!</div></div><div class="sticky_layout"><div class="card-widget card-categories"><div class="item-headline">
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</ul></div><div class="card-widget card-tags"><div class="item-headline"><i class="fas fa-tags"></i><span>Tags</span></div><div class="card-tag-cloud"><a href="/tags/GVINS/" style="font-size: 1.1em; color: #999">GVINS</a> <a href="/tags/Car-Info/" style="font-size: 1.1em; color: #999">Car-Info</a></div></div><div class="card-widget card-archives"><div class="item-headline"><i class="fas fa-archive"></i><span>Archives</span></div><ul class="card-archive-list"><li class="card-archive-list-item"><a class="card-archive-list-link" href="/archives/2024/03/"><span class="card-archive-list-date">March 2024</span><span class="card-archive-list-count">1</span></a></li><li class="card-archive-list-item"><a class="card-archive-list-link" href="/archives/2023/12/"><span class="card-archive-list-date">December 2023</span><span class="card-archive-list-count">6</span></a></li><li class="card-archive-list-item"><a class="card-archive-list-link" href="/archives/2023/11/"><span class="card-archive-list-date">November 2023</span><span class="card-archive-list-count">5</span></a></li></ul></div><div class="card-widget card-webinfo"><div class="item-headline"><i class="fas fa-chart-line"></i><span>Info</span></div><div class="webinfo"><div class="webinfo-item"><div class="item-name">Article :</div><div class="item-count">12</div></div><div class="webinfo-item"><div class="item-name">Runtime :</div><div class="item-count" id="runtimeshow" data-publishDate="2023-11-04T10:00:00.000Z"><i class="fa-solid fa-spinner fa-spin"></i></div></div><div class="webinfo-item"><div class="item-name">Total Count :</div><div class="item-count">12.5k</div></div><div class="webinfo-item"><div class="item-name">UV :</div><div class="item-count" id="busuanzi_value_site_uv"><i class="fa-solid fa-spinner fa-spin"></i></div></div><div class="webinfo-item"><div class="item-name">PV :</div><div class="item-count" id="busuanzi_value_site_pv"><i class="fa-solid fa-spinner fa-spin"></i></div></div><div class="webinfo-item"><div class="item-name">Last Update :</div><div class="item-count" id="last-push-date" data-lastPushDate="2024-03-03T14:55:03.239Z"><i class="fa-solid fa-spinner fa-spin"></i></div></div></div></div></div></div></main><footer id="footer" style="background-image: url('/img/index_img.jpeg')"><div id="footer-wrap"><div class="copyright">©2023 - 2024 By Damon</div><div class="footer_custom_text">过去都是假的，回忆是一条没有归途的路，以往的一切春天都无法复原，唯有孤独永恒。<p><a target="_blank" href="https://hexo.io/"><img src="https://img.shields.io/badge/Frame-Hexo-blue?style=flat&logo=hexo" ></a> <a target="_blank" href="https://butterfly.js.org/"><img src="https://img.shields.io/badge/Theme-Butterfly-6513df?style=flat&logo=bitdefender"></a> <a target="_blank" href="https://vercel.com/ "><img src="https://img.shields.io/badge/Hosted-Vervel-brightgreen?style=flat&logo=Vercel"></a> <a target="_blank" href="https://github.com/"><img src="https://img.shields.io/badge/Source-Github-d021d6?style=flat&logo=GitHub"></a> <a target="_blank" href="http://creativecommons.org/licenses/by-nc-sa/4.0/"><img src="https://img.shields.io/badge/Copyright-BY--NC--SA%204.0-d42328?style=flat&logo=Claris"></a></p></div></div></footer></div><div id="rightside"><div id="rightside-config-hide"><button id="translateLink" type="button" title="Toggle Between Traditional Chinese And Simplified Chinese">繁</button><button id="darkmode" type="button" title="Toggle Between Light And Dark Mode"><i class="fas fa-adjust"></i></button><button id="hide-aside-btn" type="button" title="Toggle between Single-column and Double-column"><i class="fas fa-arrows-alt-h"></i></button></div><div id="rightside-config-show"><button id="rightside-config" type="button" title="Setting"><i class="fas fa-cog fa-spin"></i></button><button id="go-up" type="button" title="Back To Top"><span class="scroll-percent"></span><i class="fas fa-arrow-up"></i></button></div></div><div><script src="/js/utils.js"></script><script src="/js/main.js"></script><script src="/js/tw_cn.js"></script><script src="https://cdn.jsdelivr.net/npm/@fancyapps/ui/dist/fancybox/fancybox.umd.min.js"></script><div class="js-pjax"><script>window.typedJSFn = {
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