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Version: 7.0

IMU PreIntegration Error Metrics

Definition

IMU preintegration error metrics contain the following fields:

Field
TypeDescription
nav_component_idUUIDThe UUID of the IMU component this metric was generated from.
initial_gyro_biasAn array of 3 float valuesThe XYZ components denoting the initial gyro bias (units of radians / second)
initial_accelerometer_biasAn array of 3 float valuesThe XYZ components denoting the initial accelerometer bias (units of meters / seconds2)
start_navigation_statesAn array of extrinsics-velocity objectsThe inferred starting navigation states.
end_navigation_statesAn array of extrinsics-velocity objectsThe inferred ending navigation states.
local_incrementsAn array of extrinsics-velocity objectsThe local increments of the preintegration before bias correction.
corrected_local_incrementsAn array of extrinsics-velocity objectsThe local increments of the preintegration after first-order bias correction.
misalignmentsAn array of extrinsics-velocity objectsThe residual errors of the preintegration. The misalignment between the preintegration and the inferred preintegration based on the navigation states.
preintegration_timesAn array of floatsThe preintegration horizon. The change in time between the start and end navigation states.
gyro_biasesAn array of arrays of 3 float valuesAn array of the inferred XYZ gyro biases of the preintegration.
accelerometer_biasesAn array of arrays of 3 float valuesAn 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.