Why is the accelerometer noise value set quite large in IMU preIntegration?
zhoupengwei opened this issue · 2 comments
zhoupengwei commented
Thank you for your excellent work！
I have doubts about the noise value setting of IMU accelerometer in the configuration file. (config_fr_iosb.yaml IMU/acc_n: 2000).
Can you explain about this? Is this to reduce the drift of z-axis? This value does not appear to be set from the calibration data.
Looking forward to your answer.
whw-create commented
哥们搞明白了吗？
xiaofafafafa commented
哥们搞明白了吗？