track the trajectory with noise

2021-05-29 16:53:00 +02:00
parent cd6f0c5b97
commit faf00a6aad
20 changed files with 201 additions and 247 deletions
@@ -15,8 +15,8 @@ svo:
  ABC: 0.1                #acc bias in continuous
  GBC: 0.1                #gyro bias in continuous
  EBP: 0.1                #error in the bias used for preintegration
-  NRP: 0.0000001                #noise used for projection in preintegration
-  gravity: 9.65
+  NRP: 0.001                #noise used for projection in preintegration
+  gravity: -9.65
  Acceleration_offset_x: -0.05
  Acceleration_offset_y: -0.04
  Gyroscope_offset_z: 0.001