Comments (3)
xuankuzcr
commented on August 14, 2024
1
acc_avr = acc_avr * G_m_s2 / mean_acc.norm() - state_inout.bias_a;
首先livo需要静止初始化。另外是以G_m_s2 / mean_acc.norm()作为模长将 IMU数据统一恢复到m/s^2单位的，这里确实是不准确的缩放，但acc_avr才是最终使用来propa的，这个误差会在update的时候被分担在bias_a里。
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zzwu29
commented on August 14, 2024
在这里看到了和我相同的困惑，mark一下~
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chenxiaocongAI
commented on August 14, 2024
这个误差会在update的时候被分担在bias_a里,是把bias_a当成优化变量才有这个功能把。如果在优化的时候只优化pose，不考虑imu-lidar之间的外参以及bias_g，bias_a，这里对于acc_avr的计算是否需要重新考虑
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Related Issues (20)
- Covariance values HOT 1
- IMU Initialization issues with Livox HAP? HOT 16
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- 关于地图保存的问题 HOT 2
- 请问PWM使能avia激光雷达采集数据问题？ HOT 1
- 关于代码中#ifdef USE_IKFOM HOT 2
- GPRMC信号是必要的吗 HOT 7
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- Is there any docker image?
- 请教一下同步的问题 HOT 1
- 关于相机雷达联合标定的问题 HOT 2
- 视觉残差对R的雅可比推导可能有误 HOT 3
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- how to judge the pose after icp EKF
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