Open maximilian-nitsch opened 2 years ago
Hi,
could you explain how you arrive at the parameterization for ADIS IMU: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/imu_snippets.xacro ?
Especially the noise densitity values. The values do not correspond with the data sheet: https://www.analog.com/media/en/technical-documentation/data-sheets/adis16448.pdf
Furthermore I do not exactly understand how the discrete model in: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/IMUROSPlugin.cc works.
// Compute exact covariance of the process after dt [Maybeck 4-114] double sigmaBAD = sqrt(- sigmaBA * sigmaBA * tauA / 2.0 * (exp(-2.0 * _dt / tauA) - 1.0)); // Compute state-transition. double phiAD = exp(-1.0 / tauA * _dt);
// Compute exact covariance of the process after dt [Maybeck 4-114]
double sigmaBAD = sqrt(- sigmaBA * sigmaBA * tauA / 2.0 * (exp(-2.0 * _dt / tauA) - 1.0));
// Compute state-transition.
double phiAD = exp(-1.0 / tauA * _dt);
What is the exact name of the book (Maybeck)? As far as I understand, you discretize the continous covariance.
Best regards, Max
Hi,
could you explain how you arrive at the parameterization for ADIS IMU: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/imu_snippets.xacro ?
Especially the noise densitity values. The values do not correspond with the data sheet: https://www.analog.com/media/en/technical-documentation/data-sheets/adis16448.pdf
Furthermore I do not exactly understand how the discrete model in: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/IMUROSPlugin.cc works.
// Compute exact covariance of the process after dt [Maybeck 4-114]double sigmaBAD = sqrt(- sigmaBA * sigmaBA * tauA / 2.0 * (exp(-2.0 * _dt / tauA) - 1.0));// Compute state-transition.double phiAD = exp(-1.0 / tauA * _dt);What is the exact name of the book (Maybeck)? As far as I understand, you discretize the continous covariance.
Best regards, Max