New Crowdin translations - zh-CN

docs/zh/computer_vision/visual_inertial_odometry.md

@@ -46,9 +46,7 @@ To setup ROS and PX4:
 
 - [Verify that VIO is set up correctly](#verify_estimate) before your first flight!
 
-<a id="vio_ros_node"></a>
-
-### ROS VIO node
+### ROS VIO node {#vio_ros_node}
 
 In this suggested setup, a ROS node is required to
 
@@ -58,17 +56,16 @@ In this suggested setup, a ROS node is required to
 
 The implementation of the ROS node will be specific to the camera used and will need to be developed to use the interface and drivers appropriate for the camera.
 
-The odometry messages should be of the type [`nav_msgs/Odometry`](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
+The odometry messages should be of the type [`nav_msgs/Odometry`](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
 
-System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`. These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
+System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`.
+These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
 
 - `MAV_STATE_ACTIVE` when the VIO system is functioning as expected,
 - `MAV_STATE_CRITICAL` when the VIO system is functioning, but with low confidence, and
 - `MAV_STATE_FLIGHT_TERMINATION` when the system has failed or the estimate confidence is unacceptably low.
 
-<a id="ekf2_tuning"></a>
-
-### PX4 调试
+### PX4 Tuning {#ekf2_tuning}
 
 将相机连接到机载计算机并将其安装到框架：
 
@@ -83,9 +80,7 @@ These can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2** (re
 
 For more detailed/additional information, see: [Using PX4's Navigation Filter (EKF2) > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system).
 
-<a id="tuning-EKF2_EV_DELAY"></a>
-
-#### 调参 EKF2_EV_DELAY
+#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY}
 
 [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.
 换而言之，这是视觉系统时间戳和 IMU 时钟（ EKF2 “时基” ）记录的“实际”捕获时间之间的差异。
@@ -104,9 +99,7 @@ A plot of external data vs. onboard estimate (as above) can be generated using [
 
 可以通过更改参数来进一步调整该值，以找到在动态变化中最低的 EKF 更新值。
 
-<a id="verify_estimate"></a>
-
-## 检查/校验 VIO 估计
+## Check/Verify VIO Estimate {#verify_estimate}
 
 :::info
 The [MAV_ODOM_LP](../advanced_config/parameter_reference.md#MAV_ODOM_LP) parameter mentioned below was removed in PX4 v1.14.
@@ -153,11 +146,9 @@ First, make sure MAVROS is able to connect successfully to the flight controller
 如果连接正确， 常见问题 / 解决方案是：
 
 - **Problem:** I get drift / flyaways when the drone flies, but not when I carry it around with the props off.
-
   - If using the [T265](../peripherals/camera_t265_vio.md) try soft-mounting it (this camera is very sensitive to high-frequency vibrations).
 
 - **Problem:** I get toilet-bowling when VIO is enabled.
-
   - 确保相机的方向与启动文件中的变换匹配。
     Use the _QGroundControl_ [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html) to verify that the velocities in the `ODOMETRY` message coming from MAVROS are aligned to the FRD coordinate system.