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fix the unit of ARW in the debug information

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liqiang 2023-07-11 20:31:10 +08:00
parent 079e59ce3e
commit 08f9fce660
1 changed files with 1 additions and 1 deletions
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src/kf-gins/kf_gins_types.h
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@ -121,7 +121,7 @@ typedef struct GINSOptions {
// 打印IMU噪声参数 // 打印IMU噪声参数
// print IMU noise parameters // print IMU noise parameters
std::cout << " - IMU noise: " << std::endl; 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' << "- 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::cout << '\t' << "- gyrbias std: " << imunoise.gyrbias_std.transpose() * R2D * 3600 << " [deg/h] "
<< std::endl; << std::endl;