ImuFactor with earth rotation #1872
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chrisflesher
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I'm interested in estimating gyro biases for a high performance IMU but can't figure out how to account for earth rotation rate properly in GTSAM.
It seems like the IMU pre-integration code assumes IMU measurements are in the
bodyframe instead of theintertialframe like they are normally given. Any ideas / workarounds would be appreciated!Beta Was this translation helpful? Give feedback.
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