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i2Nav-WHU / IC-GVINS

A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System
GNU General Public License v3.0
458 stars 109 forks source link

请问为什么初始化时平均acc和gyr需要乘上imudatarate？ #32

Closed SlamCabbage closed 10 months ago

SlamCabbage commented 10 months ago

如题

thlsealight commented 10 months ago

输入处理内核的IMU数据为增量形式。