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In the configuration file: https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/cfg/dlio.yaml
We can use the bias for both accelerometer and gyro. they are calculated using the allan variance.
There is another matrix (sm) scale misalignment. I can't figure out where this come from.
Regards,
The text was updated successfully, but these errors were encountered:
@hatem-darweesh -- Please see the following article regarding the SM matrix
https://www.vectornav.com/resources/inertial-navigation-primer/specifications--and--error-budgets/specs-imucal
You can calibrate for it using packages like kalibr
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In the configuration file: https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/cfg/dlio.yaml
We can use the bias for both accelerometer and gyro. they are calculated using the allan variance.
There is another matrix (sm) scale misalignment. I can't figure out where this come from.
Regards,
The text was updated successfully, but these errors were encountered: