From 08f9fce66028c65727b3f3c53f34f7dfd5a3c1c3 Mon Sep 17 00:00:00 2001 From: liqiang Date: Tue, 11 Jul 2023 20:31:10 +0800 Subject: [PATCH] fix the unit of ARW in the debug information --- src/kf-gins/kf_gins_types.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/kf-gins/kf_gins_types.h b/src/kf-gins/kf_gins_types.h index 3dce41f..4022b40 100644 --- a/src/kf-gins/kf_gins_types.h +++ b/src/kf-gins/kf_gins_types.h @@ -121,7 +121,7 @@ typedef struct GINSOptions { // 打印IMU噪声参数 // print IMU noise parameters std::cout << " - IMU noise: " << std::endl; - std::cout << '\t' << "- arw: " << imunoise.gyr_arw.transpose() * R2D * 60 << " [deg/s/sqrt(h)] " << std::endl; + std::cout << '\t' << "- arw: " << imunoise.gyr_arw.transpose() * R2D * 60 << " [deg/sqrt(h)] " << std::endl; std::cout << '\t' << "- vrw: " << imunoise.acc_vrw.transpose() * 60 << " [m/s/sqrt(h)] " << std::endl; std::cout << '\t' << "- gyrbias std: " << imunoise.gyrbias_std.transpose() * R2D * 3600 << " [deg/h] " << std::endl;