How to input my own IMU data into insfilterErrorState
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If I defined the RF of insfilterErrorState as 'ENU', how can I transform my own IMU data from real world?
I noticed that, if RF is 'NED', it is needed to format the IMU data as 'x-front, y-right, z-down', and accerlerometer z data should be also inversed because the different g definition in MATLAB.
If RF is 'ENU', how should I processing my IMU input? Thanks a lot. Because I adjust the input, the DR result of insfilterErrorState seems really bad. I think there might be some proplem in my data input.
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Brian Fanous
2022 年 11 月 22 日
This example may help in understanding how to do this:
You may need to swap and/or invert axes, but, essentially, you want to map your recorded IMU data to the same convention as imuSensor outputs in the imuSensor('ReferneceFrame', 'ENU') setup.
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Brian Fanous
2022 年 11 月 28 日
The combinations of what flips and inversions you'll need will be specific to your IMU. It may be that the accelerometer and gyroscope need different handling.
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