█ CP-2 █ Optimized IMU Metrics +-----------------+-------------------------------------------+--------------------------------------+--------------------------------------+ | IMU | Noise | Bias | Intrinsics | +-----------------+-------------------------------------------+--------------------------------------+--------------------------------------+ | /imu (77931821) | Angular Random Walk | Gyro Bias | Gyro Scale | | | [1.000e-3, 1.000e-3, 1.000e-3] | X: -0.020 ± 2.441e-4 (1σ) | X: 1.000 ± 9.201e-4 (1σ) | | | Gyro Bias Instability | Y: -4.963e-3 ± 2.219e-4 (1σ) | Y: 1.000 ± 9.098e-4 (1σ) | | | [1.000e-4, 1.000e-4, 1.000e-4] | Z: 5.863e-3 ± 2.217e-4 (1σ) | Z: 1.000 ± 8.743e-4 (1σ) | | | Gyro Correlation Time Constant | Specific Force Bias | Specific Force Scale | | | 10.000 | X: -5.235e-4 ± 9.940e-4 (1σ) | X: 0.996 ± 2.760e-4 (1σ) | | | Gyro Rate Random Walk | Y: 2.794e-5 ± 9.991e-4 (1σ) | Y: 1.000 ± 8.987e-4 (1σ) | | | [1.000e-5, 1.000e-5, 1.000e-5] | Z: 2.685e-4 ± 9.992e-4 (1σ) | Z: 0.999 ± 9.220e-4 (1σ) | | | Gyro Turn-on Bias Uncertainty | | | | | [1.000e-3, 1.000e-3, 1.000e-3] | | | | | Velocity Random Walk | | | | | [0.010, 0.010, 0.010] | | | | | Accelerometer Bias Instability | | | | | [1.000e-3, 1.000e-3, 1.000e-3] | | | | | Accelerometer Correlation Time Constant | | | | | 10.000 | | | | | Accelerometer Rate Random Walk | | | | | [1.000e-3, 1.000e-3, 1.000e-3] | | | | | Accelerometer Turn-on Bias Uncertainty | | | | | [1.000e-3, 1.000e-3, 1.000e-3] | | | | | | | | +-----------------+-------------------------------------------+--------------------------------------+--------------------------------------+