From efc19b2a6961bcd6de294f378ecf335cedb83f91 Mon Sep 17 00:00:00 2001
From: liqiang <wlq@whu.edu.cn>
Date: Thu, 5 Jan 2023 17:31:26 +0800
Subject: [PATCH] correct some comments

---
 src/kf-gins/gi_engine.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/kf-gins/gi_engine.cpp b/src/kf-gins/gi_engine.cpp
index 64fadee..b3c7677 100644
--- a/src/kf-gins/gi_engine.cpp
+++ b/src/kf-gins/gi_engine.cpp
@@ -154,13 +154,13 @@ void GIEngine::newImuProcess() {
 
 void GIEngine::imuCompensate(IMU &imu) {
 
-    // 补偿IMU零偏误差
-    // compensate the imu bias error
+    // 补偿IMU零偏
+    // compensate the imu bias
     imu.dtheta -= imuerror_.gyrbias * imu.dt;
     imu.dvel -= imuerror_.accbias * imu.dt;
 
-    // 补偿IMU比例因子误差
-    // compensate the imu scale error
+    // 补偿IMU比例因子
+    // compensate the imu scale
     Eigen::Vector3d gyrscale, accscale;
     gyrscale   = Eigen::Vector3d::Ones() + imuerror_.gyrscale;
     accscale   = Eigen::Vector3d::Ones() + imuerror_.accscale;