Bad result in Aeve AeriesII Lidar

[zhangzscn]

In the laboratory, we tested glim algorithm with Aeve AeriesII Lidar. In the first small part of data, glim performed well, but in the subsequent data, attitude estimation was not very accurate. Could you please help analyze the specific reasons? And is there a solution?

data：https://drive.google.com/file/d/1j65q7E8nM8g4Mfd6lIXmfC-C6A--E7Gb/view?usp=sharing

For Aeve AeriesII LiDAR, we have modified some configurations: "T_lidar_imu": [ 0, 0, 0, 0.0, 0.0, 0.0, 1.0 ].

"imu_topic": "/aeva/aeva/imu", "points_topic": "/aeva/aeva/point_cloud_compensated",