使用imu_utils标定得到的为连续形式,VINS使用离散形式,所以进行转换
随机噪声acc_n and gyr_n应该乘以根号频率,随机游走 acc_w and gyr_w应该除以根号频率
import numpy as np
your.gyro.noise_density / np.sqrt(1/200.0) # assume your imu frequency is 200 HZ
your.accel.noise_density / np.sqrt(1/200.0)
your.gyro.random_walk_denity * np.sqrt(1/200.0)
your.accel.random_walk_denity * np.sqrt(1/200.0)
参考:
Camera position is moving fast while robot is only tilted and rotated
When I tested with own data, reset occurs frequently. (Mono-Inertial)
【学习总结】IMU噪声的连续形式与离散形式