Add imu data simulation to support evaluation of the calibration result #24
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There are several open source IMU instrinsic calibration tools. However the result of those tools varies a lot and the calibration result is difficult to evaluate.
So I create a tool to simulate IMU data by implementing IMU-Noise-Model then use the tools to calibrate simulated IMU data. After comparing IMU simulator configuration and calibration result, I found allan_variance_ros gives a good result.
Experiment steps
feature-support-imu-simulation
and runrosrun allan_variance_ros imu_simulator imu-sim.bag config/simulation/imu_simulator.yaml
to get simulated imu dataimu-sim.bag
;Result analysis
Simulator configuration
config/simulation/imu_simulator.yaml
and result ofallan_variance_ros fit very well, especially the noise_density.
config/simulation/imu_simulator.yaml
imu.yaml
Log graph of simulated data:
I also test imu_utils, but get a bad result: