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How to find the scale misalignment matrix for the IMU #62

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hatem-darweesh opened this issue Jul 3, 2024 · 1 comment

hatem-darweesh commented Jul 3, 2024

In the configuration file: https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/cfg/dlio.yaml

We can use the bias for both accelerometer and gyro. they are calculated using the allan variance.

There is another matrix (sm) scale misalignment. I can't figure out where this come from.

Regards,

Contributor

kennyjchen commented Oct 3, 2024

@hatem-darweesh -- Please see the following article regarding the SM matrix

https://www.vectornav.com/resources/inertial-navigation-primer/specifications--and--error-budgets/specs-imucal

You can calibrate for it using packages like kalibr

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