New IMU noise model #798
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New IMU noise model #798
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@nkoenig can you update the other X1-X4 models on the SubT Tech Repo as well? |
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Build finished. 21 tests run, 0 skipped, 0 failed. |
nkoenig
approved these changes
Feb 22, 2021
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Looks good. I'm updating the matching Fuel models. |
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This pull request updates the IMU noise model for all robots in the SubT Tech Repo. In the interest of advancing the real-world relevance of software developments in the Virtual Competition, the new IMU noise model parameters have been derived from a representative range of IMUs used in field robotics.
A combination of datasheets and research literature informed the selected parameters including the empirically determined parameters derived in the following paper for low- and high-cost IMUs:
Gonzalez, R.; Dabove, P. Performance Assessment of an Ultra Low-Cost Inertial Measurement Unit for Ground Vehicle Navigation. Sensors 2019, 19, 3865. https://doi.org/10.3390/s19183865