REFERENCES
- gaowenliang/imu_utils
- rpng/kalibr_allan
- N. El-Sheimy, H. Hou and X. Niu, "Analysis and Modeling of Inertial Sensors Using Allan Variance" . in IEEE Transactions on Instrumentation and Measurement, vol. 57, no. 1, pp. 140-149, Jan. 2008, doi: 10.1109/TIM.2007.908635.
The code of this project is mainly based on this repository and this repository, thanks to the work of gaowenliang, mintar et al.
| Parameter | YAML element | Symbol | Units |
|---|---|---|---|
| Gyroscope "white noise" | gyr_n |
||
| Accelerometer "white noise" | acc_n |
||
| Gyroscope "bias Instability" | gyr_w |
||
| Accelerometer "bias Instability" | acc_w |
-
White noise is at tau=1;
-
Bias Instability is around the minimum;
(according to technical report: Allan Variance: Noise Analysis for Gyroscopes)
- Eigen3
- Ceres
- matplotlib
- 编译
mkdir build
cd build
cmake ..
make -j4- 准备 采样的数据
put your imu sampled data file "imu_reading.txt" at dir ./data/
- run allan_variance analysis
cd build
./imu_allan_variance- result
在data文件夹下面可以看到数据:
- data_IMUxxxx_acc_t.txt: acc时间戳
- data_IMUxxxx_acc_x.txt: acc采样x轴
- data_IMUxxxx_acc_y.txt: acc采样y轴
- ...
- data_IMUxxxx_fitting_acc_t.txt: acc拟合时间戳
- data_IMUxxxx_fitting_acc_y.txt: acc拟合y轴曲线
- ...
- IMUxxxx_imu_param.txt: IMU噪声分析解结果
- 绘制曲线
cd ./scripts
python3 ./draw_allan.py
