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param.h中注释IMU单位是不是写错了 #17

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cheslee-z opened this issue Apr 12, 2023 · 2 comments

cheslee-z commented Apr 12, 2023

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cheslee-z commented Apr 12, 2023

    double gyro_noise_sigma = 0.015;    // rad/s
    double acc_noise_sigma = 0.019;      //　m/(s^2)

rad/s应该是表示的应该是离散时间的单位，可参考https://github.com/ethz-asl/kalibr/issues/354，但看imu.cpp中更新时还会离散化，所以这里的单位应该是为rad/s*sqrt(s)

julianrobot commented Oct 19, 2023

我也觉得单位应该是
double gyro_noise_sigma = 0.015; // rad/s/√Hz or (rad/s)*√(s)
double acc_noise_sigma = 0.019; //　m/(s²)/√Hz or (m/s²)*√s or m/s^1.5

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