IMU PreIntegration Error Metrics
Definition
IMU preintegration error metrics contain the following fields:
Field | Type | Description |
|---|---|---|
nav_component_id | UUID | The UUID of the IMU component this metric was generated from. |
initial_gyro_bias | An array of 3 float values | The XYZ components denoting the initial gyro bias (units of radians / second) |
initial_accelerometer_bias | An array of 3 float values | The XYZ components denoting the initial accelerometer bias (units of meters / seconds2) |
start_navigation_states | An array of extrinsics-velocity objects | The inferred starting navigation states. |
end_navigation_states | An array of extrinsics-velocity objects | The inferred ending navigation states. |
local_increments | An array of extrinsics-velocity objects | The local increments of the preintegration before bias correction. |
corrected_local_increments | An array of extrinsics-velocity objects | The local increments of the preintegration after first-order bias correction. |
misalignments | An array of extrinsics-velocity objects | The residual errors of the preintegration. The misalignment between the preintegration and the inferred preintegration based on the navigation states. |
preintegration_times | An array of floats | The preintegration horizon. The change in time between the start and end navigation states. |
gyro_biases | An array of arrays of 3 float values | An array of the inferred XYZ gyro biases of the preintegration. |
accelerometer_biases | An array of arrays of 3 float values | An array of the inferred XYZ accelerometer biases of the preintegration. |
Analysis
Coming soon!
We're still building out the best visualizations and interpertations of these metrics. Check back later for more information on how to analyze this data.