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Иван Подмогильный
2022-08-05 08:23:25 +03:00
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config/kaist_vio/kalibr_imu_chain.yaml Normal file
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%YAML:1.0 # need to specify the file type at the top!
imu0:
T_i_b:
- [1.0, 0.0, 0.0, 0.0]
- [0.0, 1.0, 0.0, 0.0]
- [0.0, 0.0, 1.0, 0.0]
- [0.0, 0.0, 0.0, 1.0]
accelerometer_noise_density: 0.00333388 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
accelerometer_random_walk: 0.00047402 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
gyroscope_noise_density: 0.00005770 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
gyroscope_random_walk: 0.00001565 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
# accelerometer_noise_density: 0.07 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
# accelerometer_random_walk: 0.009 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
# gyroscope_noise_density: 0.001 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
# gyroscope_random_walk: 0.0003 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
model: calibrated
rostopic: /mavros/imu/data
time_offset: 0.0
update_rate: 100.0