integration sigma

[AreteQin]

Hello there,

thanks for your excellent work!

Within imu config yaml files, I saw a parameter called: integration sigma, is this parameter the angular difference between the coordinate axes of the accelerometer and the angular velocity meter?

I look forward to your response! Thanks for your time in advance!
Arete

[lukasvst]

Thanks for your question!

The value of integration_sigma is squared, and then passed as the parameter integrationCovariance to the GTSAM IMU Preintegration factor.
According to the GTSAM docs: "This is the uncertainty due to modeling errors in the integration from acceleration to velocity and position."
(This related issue might also be interesting to you: borglab/gtsam#1114)