In consistent tau length

[xelmirage]

Hi, I'm working with an actual IMU. While generating the error parameters using allan_imu.m, I got inconsistent tau lengths. From line.176 of allan_imu.m, the for loop repeats 3 times, in the first time, allan_overlap() returns a tau that has 48 items, but in the second time, the allan_overlap() returns a tau that has 48 items. Then the program retuens an error says `the dimention of left side is 48×1，the dimention of left side is 47×1。

error allan_imu (line 184) imu.fb_tau (:,i) = tau';`

And I debugged the program, it seems that in line.301 of allan_overlap.m the program returns 48 and 47 in first and second time.

So is there a walkaround of this problem?

Glad to have your reply:)

The data I used is: https://github.com/xelmirage/my_allan

[rodralez]

Hi xelmirage,

The allan_imu() function creates the tau_v vector which defines the points where the Allan variance will be evaluated by allan_overlap(). This vector is the same for the six inertial sensors mounted on a particular IMU. So, the tau vector returned by the allan_overlap() function should be the same for every sensor.

Can you share the IMU data so I can check this strange behavior?

Kind regards. -- Rodrigo Gonzalez

[xelmirage]

Happy to have your timely reply, the data can be found at: https://github.com/xelmirage/my_allan

Because github has a limit of file size, I packed it into multi-volume zip, you may need to download all the files and unpack it.

[LZNUDT]

Happy to have your timely reply, the data can be found at: https://github.com/xelmirage/my_allan

Because github has a limit of file size, I packed it into multi-volume zip, you may need to download all the files and unpack it.

Hi,friend! I have analyzed your data, you can look at the results！ ` For X-axis Gyroscope, the result as follows: random walks

N =

 1.681055538327384e-04

rate random walks

K =

 2.602532081636726e-07

Bias Instability

B =

 7.689027351904626e-06

BI, correlation time, in seconds\n

ans =

 1.155520000000000e+03

`if you have any question ,please contact me with wechat:13121105069

[LZNUDT]

you can find the code of allan https://blog.csdn.net/wuwuku123/article/details/104973773

[rodralez]

Happy to have your timely reply, the data can be found at: https://github.com/xelmirage/my_allan

Because github has a limit of file size, I packed it into multi-volume zip, you may need to download all the files and unpack it.

Hello,

I am very sorry for the late reply.

I processed your static data with the last version of NaveGo. Everything seems to be fine. Next, the Allan variance plots:

Kind regards.