The problem of IMU noise model units #1733
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zhaoxin0716
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The units of sigma (standard deviation) are the same as the units of the original data. So your assumption is correct. |
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Hello everyone, sorry to bother you.
I am not very clear about the noise model units of IMU in GTSAM.
For example, in the example of IMUKittiExampleGPS.cpp, I am not sure the unit of accelerometer_sigma，Gyroscope_sigma，Integration_sigma，Accelerometer_bias_sigma，Gyroscope_bias_sigma.
Perhaps Gyroscope_bias_sigma is rad/s,Accelerometer_bias_sigma is m/s^2.
If anyone knows about this, I would greatly appreciate it。
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