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i2Nav-WHU / awesome-gins-datasets

An awesome vehicle dataset for GNSS/INS integration applications
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imu coordinate frame #10

Closed Lishen1 closed 3 months ago

Lishen1 commented 7 months ago

in readme written that imu in NED coordinate frame (z axis towards down) but in imu data file sign of z axis acceleration is negative (while expected positive )

thlsealight commented 3 months ago

The IMU used is in the front-right-down (FRD) frame, while is a local frame. In contrast, the NED frame is a global frame. Besides, please note that the sign of the z-axis acceleration should be negative rather than positive.