imu_corrector

Purpose

imu_corrector_node is a node that correct imu data.

1. Correct yaw rate offset $b$ by reading the parameter.
2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.

Mathematically, we assume the following equation:

$$\tilde{\omega}(t) = \omega(t) + b(t) + n(t)$$

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Inputs / Outputs

Input

Name	Type	Description
~input	sensor_msgs::msg::Imu	raw imu data

Output

Name	Type	Description
~output	sensor_msgs::msg::Imu	corrected imu data

Parameters

Core Parameters

Name	Type	Description
angular_velocity_offset_x	double	roll rate offset in imu_link [rad/s]
angular_velocity_offset_y	double	pitch rate offset imu_link [rad/s]
angular_velocity_offset_z	double	yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx	double	roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy	double	pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz	double	yaw rate standard deviation imu_link [rad/s]
acceleration_stddev	double	acceleration standard deviation imu_link [m/s^2]

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts