struct mola::AddIMUAttitudeFactorParams

Overview

#include <simplemap_georeference.h>

struct AddIMUAttitudeFactorParams
{
    // fields

    double imuAttitudeSigmaDeg = 3.0;
    double imuAttitudeYawSigmaDeg = 15.0;
    double azimuthOffsetDeg = 0.0;
};

Fields

double imuAttitudeSigmaDeg = 3.0

Sigma for the roll/pitch components of the absolute-attitude factor [deg].

double imuAttitudeYawSigmaDeg = 15.0

Sigma for the yaw (azimuth) component [deg]. IMU-fused yaw (often magnetometer-based) is typically much noisier than roll/pitch, hence this defaults higher. Set equal to imuAttitudeSigmaDeg for isotropic noise.

double azimuthOffsetDeg = 0.0

Fixed calibration offset (degrees) between the IMU’s zero-yaw reading and true azimuth, e.g. due to sensor mounting or magnetic declination.