VINS-Mono icon indicating copy to clipboard operation
VINS-Mono copied to clipboard

Published 20 hours ago • verified publisher icon HKUST-Aerial-Robotics

IMU parameters

Open maximpavliv opened this issue 5 years ago • 1 comments

After reading different stuff from online, I am a bit lost regarding the IMU parameters (the noise std). The Allan Graph is a way to find noise std and random walk, but is the result in continuous or discrete time? Kalibr then provides a tool to find the discrete std from the continuous one. What needs to be used in the end as a parameter in VINS-Mono, the continuous or the discrete std noise?

maximpavliv avatar Mar 07 '20 04:03 maximpavliv

After reading different stuff from online, I am a bit lost regarding the IMU parameters (the noise std). The Allan Graph is a way to find noise std and random walk, but is the result in continuous or discrete time? Kalibr then provides a tool to find the discrete std from the continuous one. What needs to be used in the end as a parameter in VINS-Mono, the continuous or the discrete std noise?

the continuous or the discrete std noise? do you know nowly?

liuzhenboo avatar Aug 04 '20 13:08 liuzhenboo