The position is drifting. Any ideas on calibration or what might be wrong?

[lida2003]

As the title implies: I just move the copter up and down, not very far from the original postion.

And idea?

$ rosrun vins vins_node src/VINS-Fusion/config/uav_bridge/mono_imu_config.yaml
[ INFO] [1730796687.302578418]: init begins
config_file: src/VINS-Fusion/config/uav_bridge/mono_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /tmp/uav_imu
result path ~/output//vio.csv
[ WARN] [1730796687.333772924]:  fix extrinsic param
camera number 1
[ INFO] [1730796687.337033538]: Synchronized sensors, fix time offset: 0
[ INFO] [1730796687.337232072]: ROW: 480 COL: 752
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[ INFO] [1730796687.337893020]: reading paramerter of camera src/VINS-Fusion/config/uav_bridge/cam_mei.yaml
MULTIPLE_THREAD is 1
[ WARN] [1730796687.338630803]: waiting for image and imu...
init first imu pose
averge acc 0.217742 -0.171586 -9.785157
init R0
   0.999753 0.000389984   0.0222399
          0   -0.999846   0.0175327
  0.0222433  -0.0175283   -0.999599
[ INFO] [1730796688.724838779]: IMU excitation not enouth!
[ INFO] [1730796688.725262824]: Not enough features or parallax; Move device around
[ INFO] [1730796688.923556799]: IMU excitation not enouth!
[ INFO] [1730796688.924090576]: Not enough features or parallax; Move device around
[ INFO] [1730796689.122475593]: IMU excitation not enouth!
[ INFO] [1730796689.124590155]: Not enough features or parallax; Move device around
[ INFO] [1730796689.270236253]: IMU excitation not enouth!
[ INFO] [1730796689.270806222]: Not enough features or parallax; Move device around
[ INFO] [1730796689.413537893]: IMU excitation not enouth!
[ INFO] [1730796689.414082646]: Not enough features or parallax; Move device around
[ INFO] [1730796689.588875410]: IMU excitation not enouth!
[ INFO] [1730796689.597813640]: Not enough features or parallax; Move device around
[ INFO] [1730796689.801636267]: IMU excitation not enouth!
[ INFO] [1730796689.802865393]: Not enough features or parallax; Move device around
[ INFO] [1730796689.948527011]: IMU excitation not enouth!
[ INFO] [1730796689.949344349]: Not enough features or parallax; Move device around
[ INFO] [1730796690.120337186]: IMU excitation not enouth!
[ INFO] [1730796690.122717932]: Not enough features or parallax; Move device around
[ INFO] [1730796690.303196249]: IMU excitation not enouth!
[ INFO] [1730796690.303669800]: Not enough features or parallax; Move device around
[ INFO] [1730796690.427776027]: IMU excitation not enouth!
[ INFO] [1730796690.428236202]: Not enough features or parallax; Move device around
[ INFO] [1730796690.606019779]: IMU excitation not enouth!
[ INFO] [1730796690.606547059]: Not enough features or parallax; Move device around
[ INFO] [1730796690.855432527]: IMU excitation not enouth!
[ INFO] [1730796690.855856252]: Not enough features or parallax; Move device around
[ INFO] [1730796691.146083358]: IMU excitation not enouth!
[ INFO] [1730796691.148059708]: Not enough features or parallax; Move device around
[ INFO] [1730796691.276311792]: IMU excitation not enouth!
[ INFO] [1730796691.277996644]: Not enough features or parallax; Move device around
[ INFO] [1730796691.579806510]: IMU excitation not enouth!
[ INFO] [1730796691.580810285]: Not enough features or parallax; Move device around
[ INFO] [1730796691.777277163]: IMU excitation not enouth!
[ INFO] [1730796691.778386062]: Not enough features or parallax; Move device around
[ INFO] [1730796691.987245325]: IMU excitation not enouth!
[ INFO] [1730796691.987652890]: Not enough features or parallax; Move device around
[ INFO] [1730796692.156225876]: IMU excitation not enouth!
[ INFO] [1730796692.157394232]: Not enough features or parallax; Move device around
[ INFO] [1730796692.366975246]: IMU excitation not enouth!
[ INFO] [1730796692.367437692]: Not enough features or parallax; Move device around
[ INFO] [1730796692.562245478]: IMU excitation not enouth!
[ INFO] [1730796692.563339848]: Not enough features or parallax; Move device around
[ INFO] [1730796692.766446389]: IMU excitation not enouth!
[ INFO] [1730796692.767292559]: Not enough features or parallax; Move device around
[ INFO] [1730796692.966861389]: IMU excitation not enouth!
[ INFO] [1730796692.967324444]: Not enough features or parallax; Move device around
[ INFO] [1730796693.160008260]: IMU excitation not enouth!
[ INFO] [1730796693.160489715]: Not enough features or parallax; Move device around
[ INFO] [1730796693.285291324]: IMU excitation not enouth!
[ INFO] [1730796693.286124950]: Not enough features or parallax; Move device around
[ INFO] [1730796693.425040790]: IMU excitation not enouth!
[ INFO] [1730796693.426058741]: Not enough features or parallax; Move device around
[ INFO] [1730796693.576274709]: IMU excitation not enouth!
[ INFO] [1730796693.576864871]: Not enough features or parallax; Move device around
[ INFO] [1730796693.767566065]: IMU excitation not enouth!
[ INFO] [1730796693.768198053]: Not enough features or parallax; Move device around
[ INFO] [1730796694.000995692]: IMU excitation not enouth!
[ INFO] [1730796694.001738083]: Not enough features or parallax; Move device around
[ INFO] [1730796694.265909050]: IMU excitation not enouth!
[ INFO] [1730796694.266452747]: Not enough features or parallax; Move device around
[ INFO] [1730796694.464629406]: IMU excitation not enouth!
[ INFO] [1730796694.465407446]: Not enough features or parallax; Move device around
[ INFO] [1730796694.585950363]: IMU excitation not enouth!
[ INFO] [1730796694.586589135]: Not enough features or parallax; Move device around
[ INFO] [1730796694.705117013]: IMU excitation not enouth!
[ INFO] [1730796694.705849355]: Not enough features or parallax; Move device around
[ INFO] [1730796694.820683550]: IMU excitation not enouth!
[ INFO] [1730796694.821310546]: Not enough features or parallax; Move device around
[ INFO] [1730796694.996370870]: Not enough features or parallax; Move device around
[ INFO] [1730796695.216244299]: Not enough features or parallax; Move device around
[ INFO] [1730796695.434485710]: Not enough features or parallax; Move device around
[ INFO] [1730796695.609655253]: Not enough features or parallax; Move device around
[ INFO] [1730796695.753404363]: Not enough features or parallax; Move device around
[ INFO] [1730796695.900734512]: Not enough features or parallax; Move device around
[ INFO] [1730796695.985273941]: Not enough features or parallax; Move device around
[ INFO] [1730796696.070702998]: Not enough features or parallax; Move device around
[ INFO] [1730796696.158808233]: Not enough features or parallax; Move device around
[ INFO] [1730796696.246107876]: Not enough features or parallax; Move device around
[ INFO] [1730796696.296122871]: Not enough features or parallax; Move device around
empty = 0, img.t = 1729379969.943672, acc.t = 1729379972.099011 offset = 1.436232
[ INFO] [1730796696.424472591]: Not enough features or parallax; Move device around
[ INFO] [1730796696.524982756]: Not enough features or parallax; Move device around
[ INFO] [1730796696.615122167]: Not enough features or parallax; Move device around
[ INFO] [1730796696.716732335]: Not enough features or parallax; Move device around
[ INFO] [1730796696.795414045]: Not enough features or parallax; Move device around
[ INFO] [1730796696.882275755]: Not enough features or parallax; Move device around
[ INFO] [1730796696.980674782]: Not enough features or parallax; Move device around
[ INFO] [1730796697.081007630]: Not enough features or parallax; Move device around
[ WARN] [1730796697.402256756]: gyroscope bias initial calibration  -0.00251101 -0.000497344  -0.00282132
[ INFO] [1730796697.480705659]: Initialization finish!
time: 1729379971.077005, t: -0.001572 0.005605 0.003429 q: -0.000602 0.999438 -0.006638 0.032848
time: 1729379971.143672, t: -0.000959 0.005490 0.004065 q: 0.004488 0.997555 -0.004697 0.069578
time: 1729379971.210339, t: 0.001057 0.006681 0.004481 q: 0.006296 0.996544 -0.003808 0.082745
time: 1729379971.277005, t: 0.000966 0.004002 0.005297 q: 0.009788 0.996741 -0.004940 0.079916
time: 1729379971.343639, t: -0.000206 0.003463 0.005480 q: 0.020979 0.996489 -0.006718 0.080772
time: 1729379971.410327, t: -0.000263 0.003876 0.004696 q: 0.009912 0.997273 -0.006270 0.072865
time: 1729379971.476983, t: -0.001047 0.002885 0.005508 q: 0.011160 0.997387 -0.010118 0.070649
time: 1729379971.543672, t: -0.001099 0.004276 0.007320 q: 0.021575 0.997765 -0.011361 0.062208
time: 1729379971.610316, t: 0.002980 0.008805 0.008422 q: 0.029583 0.998040 -0.010828 0.054071
time: 1729379971.677005, t: 0.001843 0.009921 0.019586 q: 0.057248 0.996352 -0.013331 0.061861
time: 1729379971.743672, t: -0.004407 0.023335 0.011757 q: 0.055866 0.996440 -0.012955 0.061788
time: 1729379971.810338, t: -0.001087 0.027441 0.006829 q: 0.053300 0.996762 -0.015551 0.058170
time: 1729379971.876994, t: 0.005500 0.034835 0.002673 q: 0.031797 0.998062 -0.014542 0.051475
time: 1729379971.943672, t: -0.002378 0.003661 0.011263 q: 0.027146 0.998153 -0.017690 0.051391
time: 1729379972.010339, t: 0.004707 0.047237 -0.007255 q: 0.018787 0.998702 -0.020319 0.042751
time: 1729379972.077005, t: -0.016200 0.040569 -0.007584 q: 0.040021 0.998077 -0.021423 0.042212
time: 1729379972.143672, t: -0.013252 0.057976 0.013987 q: 0.078562 0.995873 -0.021846 0.039855
time: 1729379972.210339, t: -0.012099 0.083091 0.030542 q: 0.100203 0.993385 -0.022080 0.051550
time: 1729379972.277005, t: -0.010719 0.091662 0.001596 q: 0.082676 0.995030 -0.022732 0.050618
time: 1729379972.343672, t: 0.036449 0.080898 -0.026769 q: 0.052090 0.997399 -0.022522 0.044446
time: 1729379972.410339, t: -0.018296 0.098169 0.000964 q: 0.058732 0.997014 -0.021989 0.045063
time: 1729379972.477005, t: -0.015370 0.081294 -0.008472 q: 0.052971 0.997225 -0.024181 0.046391
time: 1729379972.543672, t: -0.034046 0.113672 -0.045168 q: 0.041850 0.998172 -0.024053 0.036363
time: 1729379972.610339, t: -0.015417 0.112274 -0.091176 q: 0.024689 0.998876 -0.025856 0.031139
time: 1729379972.677005, t: -0.008980 0.125968 -0.106287 q: 0.032837 0.998348 -0.030400 0.036052
time: 1729379972.743672, t: -0.050554 0.143187 -0.109016 q: 0.054471 0.997095 -0.034580 0.040475
time: 1729379972.810338, t: -0.001894 0.178665 -0.099425 q: 0.085707 0.994920 -0.041642 0.032464
time: 1729379972.876994, t: -0.013433 0.205679 -0.026053 q: 0.103276 0.993415 -0.047002 0.015877
time: 1729379972.943672, t: 0.045705 0.097752 0.015019 q: 0.099676 0.993524 -0.054327 0.004822
time: 1729379973.010339, t: 0.013711 0.090146 0.032267 q: 0.106598 0.992363 -0.060345 0.014518
time: 1729379973.077005, t: 0.016291 0.115154 0.019989 q: 0.110836 0.991624 -0.063989 0.017392
time: 1729379973.143672, t: 0.088116 0.208108 -0.118157 q: 0.084043 0.994338 -0.065021 -0.000917
time: 1729379973.210339, t: 0.055180 0.031814 -0.127912 q: 0.071239 0.995268 -0.065684 0.007175
time: 1729379973.277005, t: 0.005447 0.131800 0.058643 q: 0.133063 0.988610 -0.067788 0.018698
time: 1729379973.343672, t: -0.000193 0.143064 0.021370 q: 0.153543 0.985541 -0.061858 0.036166
time: 1729379973.410339, t: -0.021219 0.204225 0.000906 q: 0.164232 0.983656 -0.056896 0.047028
time: 1729379973.477005, t: -0.018125 0.244443 0.054042 q: 0.157994 0.985187 -0.052592 0.040972
time: 1729379973.577005, t: 0.015404 0.124369 -0.035488 q: 0.104220 0.992907 -0.049858 0.028089
time: 1729379973.610339, t: 0.005796 0.159373 -0.044007 q: 0.092228 0.994126 -0.051812 0.022870
time: 1729379973.676983, t: -0.045395 0.253631 -0.081296 q: 0.081945 0.994786 -0.058455 0.016423
time: 1729379973.743650, t: -0.061840 0.278340 -0.182999 q: 0.074318 0.994893 -0.064888 0.021297
time: 1729379973.810338, t: -0.058825 0.310421 -0.284448 q: 0.074785 0.994825 -0.064477 0.023929
time: 1729379973.877005, t: -0.146463 0.310514 -0.094912 q: 0.116853 0.990832 -0.064725 0.020181
time: 1729379973.943672, t: -0.047329 0.406823 -0.198604 q: 0.111542 0.991915 -0.060521 0.000748
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time: 1729379974.143672, t: -0.086414 0.429746 -0.239762 q: 0.121401 0.991152 -0.049048 0.021760
time: 1729379974.210339, t: -0.063293 0.393191 -0.375241 q: 0.090834 0.994169 -0.047070 0.034075
time: 1729379974.277005, t: 0.029024 0.523176 -0.333298 q: 0.089921 0.994775 -0.045342 0.016778
time: 1729379974.343672, t: -0.180062 0.489034 -0.282532 q: 0.085347 0.995235 -0.046695 0.006521
time: 1729379974.410339, t: -0.156938 0.461134 -0.341817 q: 0.081017 0.995546 -0.048188 -0.001226
time: 1729379974.477005, t: -0.159060 0.525520 -0.441058 q: 0.079308 0.995691 -0.046976 -0.010102
time: 1729379974.543672, t: -0.243968 0.497921 -0.250206 q: 0.106028 0.993104 -0.049940 -0.002843
time: 1729379974.610339, t: -0.247306 0.462717 -0.192141 q: 0.115058 0.991840 -0.053060 0.014149
time: 1729379974.677005, t: -0.162268 0.413190 -0.181623 q: 0.119562 0.990596 -0.056463 0.035164
time: 1729379974.743661, t: -0.252674 0.445573 -0.191285 q: 0.130546 0.988037 -0.051339 0.064070
time: 1729379974.810338, t: -0.378625 0.499872 -0.198306 q: 0.134244 0.986905 -0.044926 0.077322
time: 1729379974.877005, t: -0.241765 0.521420 -0.527541 q: 0.098448 0.992128 -0.040188 0.066139
time: 1729379974.943672, t: -0.381798 0.426798 -0.383961 q: 0.109785 0.991020 -0.039251 0.065462
time: 1729379975.010339, t: -0.352977 0.413899 -0.347921 q: 0.118157 0.989927 -0.035832 0.069280
time: 1729379975.077005, t: -0.290850 0.594609 -0.620449 q: 0.098556 0.992916 -0.033836 0.057091
time: 1729379975.143661, t: -0.415479 0.561855 -0.306128 q: 0.116023 0.991063 -0.033666 0.056568
time: 1729379975.210339, t: -0.250943 0.571647 -0.740246 q: 0.083637 0.993188 -0.035752 0.072823
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time: 1729379975.610339, t: -0.169076 0.955720 -0.678073 q: 0.068048 0.996162 -0.030556 0.045787
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time: 1729379975.810338, t: -0.299027 0.880617 -1.221901 q: 0.038957 0.996452 -0.029080 0.068709
time: 1729379975.877005, t: -0.187205 0.884338 -1.295997 q: 0.035555 0.996709 -0.028921 0.066865
time: 1729379975.943672, t: -0.029314 0.894325 -1.335026 q: 0.034677 0.997020 -0.029456 0.062290
time: 1729379976.043672, t: -0.233467 0.858942 -1.509886 q: 0.025013 0.996139 -0.029794 0.078702
time: 1729379976.076994, t: -0.070731 0.688813 -1.612597 q: 0.018124 0.996090 -0.029293 0.081353
time: 1729379976.143672, t: -0.190904 0.481566 -1.652205 q: 0.014714 0.995177 -0.029172 0.092489
time: 1729379976.210339, t: -0.079143 0.517770 -1.687320 q: 0.013251 0.995395 -0.029126 0.090361
time: 1729379976.276994, t: -0.036259 0.505669 -1.742422 q: 0.015845 0.995356 -0.029356 0.090294
time: 1729379976.343672, t: -0.024703 0.584010 -1.835619 q: 0.015656 0.995559 -0.029624 0.087976
time: 1729379976.410339, t: -0.029969 0.633339 -1.909522 q: 0.014814 0.995665 -0.030024 0.086774
time: 1729379976.476994, t: -0.023489 0.644146 -1.979817 q: 0.012666 0.995712 -0.029743 0.086677
time: 1729379976.543672, t: 0.010618 0.576231 -2.054132 q: 0.007540 0.995651 -0.029496 0.088046
empty = 0, img.t = 1729379976.610339, acc.t = 1729379976.872536 offset = 1.217939
time: 1729379976.610339, t: -0.015809 0.273578 -1.742673 q: 0.015343 0.995255 -0.030374 0.091156
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time: 1729379977.277005, t: -0.047354 0.169850 -2.216157 q: -0.012855 0.994670 -0.030136 0.097763
time: 1729379977.343672, t: -0.041904 0.149140 -2.261971 q: -0.013155 0.994610 -0.030264 0.098298
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time: 1729379977.510304, t: -0.028814 0.099412 -2.369594 q: -0.012414 0.994499 -0.030922 0.099309
time: 1729379977.543672, t: 0.031912 0.075314 -2.325299 q: -0.012646 0.994854 -0.031195 0.095562
time: 1729379977.610339, t: 0.005000 0.058630 -2.261881 q: -0.009818 0.995013 -0.031762 0.094045
time: 1729379977.677005, t: 0.007409 0.064810 -2.262919 q: -0.008525 0.995064 -0.032080 0.093515
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time: 1729379989.610339, t: 7.740573 13.048202 -13.715149 q: -0.018297 0.995468 -0.038139 0.085174
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time: 1729379989.810316, t: 7.989373 13.345313 -13.890030 q: -0.018308 0.995471 -0.038133 0.085136
time: 1729379989.877005, t: 8.038585 13.482709 -13.958997 q: -0.018336 0.995471 -0.038207 0.085094
empty = 0, img.t = 1729379989.943672, acc.t = 1729379990.005657 offset = 0.052146
time: 1729379989.943672, t: 8.095738 13.610371 -14.025671 q: -0.018377 0.995477 -0.038144 0.085046
time: 1729379990.010316, t: 8.193009 13.719365 -14.091687 q: -0.018434 0.995482 -0.038113 0.084990
time: 1729379990.077005, t: 8.292464 13.828232 -14.160186 q: -0.018445 0.995487 -0.038133 0.084915
time: 1729379990.143672, t: 8.351380 13.950513 -14.228953 q: -0.018494 0.995489 -0.038134 0.084888
time: 1729379990.210339, t: 8.436885 14.061186 -14.291060 q: -0.018488 0.995493 -0.038139 0.084833
time: 1729379990.277005, t: 8.536361 14.171700 -14.352097 q: -0.018530 0.995498 -0.038138 0.084771
time: 1729379990.343672, t: 8.615593 14.298708 -14.413454 q: -0.018521 0.995498 -0.038107 0.084791
time: 1729379990.410327, t: 8.709017 14.418278 -14.472318 q: -0.018503 0.995498 -0.038104 0.084788
time: 1729379990.477005, t: 8.794038 14.542352 -14.529378 q: -0.018467 0.995502 -0.038079 0.084759
time: 1729379990.543672, t: 8.852668 14.672838 -14.592160 q: -0.018478 0.995505 -0.038039 0.084744
time: 1729379990.610339, t: 8.927613 14.790444 -14.655214 q: -0.018514 0.995505 -0.038097 0.084711
time: 1729379990.677005, t: 8.991540 14.918138 -14.714209 q: -0.018485 0.995506 -0.038095 0.084702
^Ctime: 1729379990.776983, t: 8.851240 15.191958 -14.801227 q: -0.018408 0.995496 -0.038092 0.084843
terminate called without an active exception
Aborted (core dumped)