Questions about the meaning of IMU variables

[aegai3222]

I would like to ask what is the meaning of imu configuration in sensor configuration.

Is imu_int_noise for accelerometer_random_walk and imu_bias_noise for gyroscope_random_walk?

[koide3]

imu_int_noise models the IMU integration noise over time and corresponds to gtsam::PreintegrationParams::setIntegrationCovariance.

imu_bias_noise models the random walk of IMU bias. Setting a small value to it means assuming the IMU bias is more stably change over time.