How to find the scale misalignment matrix for the IMU

[hatem-darweesh]

In the configuration file: https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/cfg/dlio.yaml

We can use the bias for both accelerometer and gyro. they are calculated using the allan variance.

There is another matrix (sm) scale misalignment. I can't figure out where this come from.

Regards,

[kennyjchen]

@hatem-darweesh -- Please see the following article regarding the SM matrix

https://www.vectornav.com/resources/inertial-navigation-primer/specifications--and--error-budgets/specs-imucal

You can calibrate for it using packages like kalibr