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Why is the accelerometer noise value set quite large in IMU preIntegration? #42

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zhoupengwei opened this issue Oct 12, 2021 · 2 comments
Open

Why is the accelerometer noise value set quite large in IMU preIntegration? #42

zhoupengwei opened this issue Oct 12, 2021 · 2 comments

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@zhoupengwei
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Thank you for your excellent work！
I have doubts about the noise value setting of IMU accelerometer in the configuration file. (config_fr_iosb.yaml IMU/acc_n: 2000).
Can you explain about this? Is this to reduce the drift of z-axis? This value does not appear to be set from the calibration data.
screenshot_19

Looking forward to your answer.
@whw-create
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哥们搞明白了吗？

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@xiaofafafafa
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哥们搞明白了吗？

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@xiaofafafafa @zhoupengwei @whw-create