units for IMU settings

[learnhard22]

Hey,

I have a question about the units for IMU settings and I'm not able to assign the values which are given by the IMU manufacturer. I am very new into ROS and SLAM, so please bear with me. Btw I'am using SBG Systems ellipseD.

The following screenshot includes the values that are given by the manufacturer and I think I marked the right ones for the particular parameters.

The question for me is now what values were used in the params.yaml file. I think the assignment would be as follows:

• imuAccNoise is "Velocity Random Walk"

• imuGyrNoise is "Angular Random Walk"

• imuAccBiasN is "In run bias Instability" (from acc part above)

• imuGyrBiasN is "In run bias Instability" (from gyro part below)

Can anybody confirmed my idea or am I totally wrong? And what does the full scale means in the upper left corner of acc and gyro?

The second idea was to use another package to get the noise values for my IMU, so I used imu_utils. The output is as followed:

I assumed that gyr_n is for imuGyrNoise and so on (you can see my thoughts for assignment in the screenshot above). Are the units of the output of imu_utils are the same as the units of the default values in params.yaml file?

I am very confused about the units of the IMU manufacturer, so maybe someone can help me here.

Thanks in advantage and kind regards, Lennard

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[bilalkah]

Hi, Can you find anything to calculate IMU noises?

[learnhard22]

Hi, unfortunately not. I took it like I mentioned above in the last screenshot and I got acceptably values. So the package I used was imu_utils.