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koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework
MIT License
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Questions about the meaning of IMU variables #106

Open aegai3222 opened 2 weeks ago

aegai3222 commented 2 weeks ago

I would like to ask what is the meaning of imu configuration in sensor configuration.

Is imu_int_noise for accelerometer_random_walk and imu_bias_noise for gyroscope_random_walk?

koide3 commented 1 week ago

imu_int_noise models the IMU integration noise over time and corresponds to gtsam::PreintegrationParams::setIntegrationCovariance.

imu_bias_noise models the random walk of IMU bias. Setting a small value to it means assuming the IMU bias is more stably change over time.