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
2022년 11월 22일
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
2022년 11월 28일
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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