Imu bias and noise parameters

[JereK]

Hi,
Is there any way to get IMU noise and bias parameters without access to zed2. Additional thing is that in ros2 i have logged ~/imu/data: Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected. So does that mean that bias should be zero?

I could maybe get them like explained here:

[Question] left/right/imu parameters available?

However as said I dont have zed2 now in my hand.

[Myzhar]

Hi @JereK

@JereK

Is there any way to get IMU noise and bias parameters without access to zed2.

No, it’s not possible.

@JereK

Additional thing is that in ros2 i have logged ~/imu/data: Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected. So does that mean that bias should be zero?

What bias are you referring to? Accelerometer or Gyroscope?

[JereK]

Is there some default values that could be utilized as initial values since i am doing state estimation together with bias estimation?

I am refering to both gyro and accelometer biases.

[Myzhar]

@JereK

Is there some default values that could be utilized as initial values since i am doing state estimation together with bias estimation?

This is not possible. Each IMU sensor has unique bias values estimated in the factory while calibrating each camera.

[JereK]

Could you also offer some help in this matter: " Additional thing is that in ros2 i have logged ~/imu/data : Accelerometer, gyroscope, and orientation data in Earth frame topic which in my understanding is bias corrected" .

So does that mean that bias should be zero in the measurements? Or what is the purpose to have two imu topics : ~/imu/data and ~/imu/data_raw

[Myzhar]

~/imu/data_raw should contain the raw data not fixed by the calibration, but there is a bug in the wrapper. I’m fixing it just now