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balamuruganky / ekf_nav_ins

Extended Kalman Filter (EKF) to fuse GPS coordinates, Altitude, Velocity(NED), Accelerometer X, Accelerometer Y, Accelerometer Z, Gyro X, Gyro Y, Gyro Z, Magnetometer X, Magnetometer Y and Magnetometer Z
MIT License
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How do you find those variables values like gyroscope output Noice? can you guide me, please? #1

Open jimitjaishwal opened 2 years ago

jimitjaishwal commented 2 years ago 
constexpr float SIG_W_A = 0.05f;
// Std dev of gyro output noise (rad/s)
constexpr float SIG_W_G = 0.00175f;
// Std dev of Accelerometer Markov Bias
constexpr float SIG_A_D = 0.01f;
// Correlation time or time constant
constexpr float TAU_A = 100.0f;
// Std dev of correlated gyro bias
constexpr float SIG_G_D = 0.00025;
// Correlati1on time or time constant
constexpr float TAU_G = 50.0f;
// GPS measurement noise std dev (m)
constexpr float SIG_GPS_P_NE = 3.0f;
constexpr float SIG_GPS_P_D = 6.0f;
// GPS measurement noise std dev (m/s)
constexpr float SIG_GPS_V_NE = 0.5f;
constexpr float SIG_GPS_V_D = 1.0f;

How do you find those variables values like gyroscope output Noice and exatra? can you guide me, please?

balamuruganky commented 2 years ago

@jimitjaishwal : You can find these values from GPS and IMU data sheets. Something like noise values.

jimitjaishwal commented 2 years ago

can you give me an example of like MPU 6050 imu's spec sheet gyroscope and acceleration sensor noice? I don't find it perfectly! that will be help for me dear sir!