Unit of IMU readings in factorIMU

The example of Factor Graph-Based Pedestrian Localization with IMU and GPS Sensors did not specify the unit of imuNoise input. Therefore, I would want to know the unit to ensure my application using this function.

Answer 1

[Vidip]

I understand you want to know the unit of ‘imunoise’ used in the example ‘Factor Graph-Based Pedestrian Localization with IMU and GPS Sensors’.

The ‘imunoise’ struct consists of fields like ‘imuNoise.GyroscopeBiasNoise’, ‘imuNoise.AccelerometerBiasNoise’, ‘imuNoise.GyroscopeNoise’ and ‘imuNoise.AccelerometerNoise’. So, the properties like ‘GyroscopeNoise’ are Gyroscope measurement noise covariance, specified as a 3-by-3 matrix which is specified at object creation and it’s data types is double.