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Questions about the meaning of IMU variables #106

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aegai3222 opened this issue Nov 5, 2024 · 1 comment
Open

Questions about the meaning of IMU variables #106

aegai3222 opened this issue Nov 5, 2024 · 1 comment
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enhancement New feature or request

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@aegai3222
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I would like to ask what is the meaning of imu configuration in sensor configuration.

Is imu_int_noise for accelerometer_random_walk and imu_bias_noise for gyroscope_random_walk?

@aegai3222 aegai3222 added the enhancement New feature or request label Nov 5, 2024
@koide3
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koide3 commented Nov 10, 2024

imu_int_noise models the IMU integration noise over time and corresponds to gtsam::PreintegrationParams::setIntegrationCovariance.

imu_bias_noise models the random walk of IMU bias. Setting a small value to it means assuming the IMU bias is more stably change over time.

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