Details about IMU Integration Covariance

borglab / gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

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Details about IMU Integration Covariance #878

Open varunagrawal opened 3 years ago

varunagrawal commented 3 years ago

Feature

@lucacarlone and I need to document what the Integration Covariance is and its role in the ImuFactor.

dellaert commented 3 years ago

Please be careful: ImuFactor.pdf is about my new Tangent-space formulation. The Forster et al. papers are the reference for the manifold pre-integration version. I don't mind expanding and re-capping that math in this file as well, but that is a more substantial undertaking.

mattking-smith commented 1 year ago

@lucacarlone or @dellaert I haven't come across the paper detailing the math on the Integration Covariance from Forster. Do you have specific paper in mind? So far I am able to calibrate my IMU setup with an Alan Variance (AV) analysis, but I essentially "trial and error" the integration covariance as the AV analysis doesn't determine this information.