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gaowenliang / imu_utils

A ROS package tool to analyze the IMU performance.
https://gaowenliang.github.io/imu_utils
MIT License
1.45k stars 479 forks source link

result is Inconsistent results xsens imu #34

Open rainlord opened 3 years ago

rainlord commented 3 years ago 
 I download the imu_xsens.bag ,run in my compute ,the result show as fellow:

but not same as the sample result ?please tell me my result is right or not ,thanks alot.@gaowenliang

Gyr:
unit: " rad/s" avg-axis: gyr_n: 1.5513770203040560e-03 gyr_w: 5.6931332736234366e-05 x-axis: gyr_n: 1.5774252973103551e-03 gyr_w: 6.2152140405180494e-05 y-axis: gyr_n: 1.5476405987810337e-03 gyr_w: 6.2284959335368823e-05 z-axis: gyr_n: 1.5290651648207790e-03 gyr_w: 4.6356898468153780e-05 Acc: unit: " m/s^2" avg-axis: acc_n: 7.7779495049092829e-03 acc_w: 2.8431918968734965e-04 x-axis: acc_n: 8.0345939262844602e-03 acc_w: 3.8639906610963935e-04 y-axis: acc_n: 7.7117460043777128e-03 acc_w: 1.8871696931288423e-04 z-axis: acc_n: 7.5875085840656749e-03 acc_w: 2.7784153363952539e-04

the sample reult :

type: IMU name: xsens Gyr: unit: " rad/s" avg-axis: gyr_n: 1.5641921981365443e-04 gyr_w: 5.8371294942786571e-05 x-axis: gyr_n: 1.5929650434021210e-04 gyr_w: 6.1344105209174259e-05 y-axis: gyr_n: 1.5297132101736133e-04 gyr_w: 6.7378670380355060e-05 z-axis: gyr_n: 1.5698983408338980e-04 gyr_w: 4.6391109238830401e-05 Acc: unit: " m/s^2" avg-axis: acc_n: 7.8531619738053877e-04 acc_w: 3.2064659601889169e-04 x-axis: acc_n: 8.1936568393485391e-04 acc_w: 4.8066600394948737e-04 y-axis: acc_n: 7.7685118479656147e-04 acc_w: 1.8591481791391698e-04 z-axis: acc_n: 7.5973172341020059e-04 acc_w: 2.9535896619327070e-04