lidar imu外参标定

参考博客

使用lidar_align联合标定lidar与imu的外参 大聪明墨菲特
https://blog.csdn.net/weixin_53073284/article/details/123337885
十五.激光和惯导LIO-SLAM框架学习之惯导与雷达外参标定（1） goldqiu
https://blog.csdn.net/weixin_36773706/article/details/121420828
使用lidar_align进行激光雷达与IMU的外参标定（超详细教程） 莫等闲
https://blog.csdn.net/qq_49959714/article/details/128119029
ubuntu安装lidar_align时编译出错，激光雷达与IMU标定 莫等闲
https://blog.csdn.net/qq_49959714/article/details/128086217

LVISAM标定好的params_lidar.yaml

# IMU Settings
  imuAccNoise: 1.4359447602593440e-02
  imuGyrNoise: 1.4223375409937880e-03
  imuAccBiasN: 9.6428211306623856e-04
  imuGyrBiasN: 7.4726355509542536e-06
  imuGravity: 9.80511
  imuRPYWeight: 0.01
  
  # Extrinsics (lidar -> IMU)
  extrinsicTrans: [-0.951045, 0.997769, -