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rising-turtle / VCU_RVI_Benchmark

Implementations of VIO methods to use the benchmark
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imu linear_acc. issue #13

Open wongkenchiang97 opened 2 years ago

wongkenchiang97 commented 2 years ago

I've encounter imu excitation problem while running the "lab-bumper1.bag" dataset.

IMU linear_acc plot: bumper1

I think the x-axis's linear_acc. should be around 9.8m/s^2.

1) In this case, the gravity vector of the linear_acc. measurement is removed by the imu driver?

2) What is the unit of the linear_acc. ?

rising-turtle commented 4 months ago

The output of the sensor is scaled by dividing 9.8m/s^2. So, the acc readings have to be multiplied by 9.8 to get the true acceleration value.