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correct some comments

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This commit is contained in:
liqiang 2023-01-05 17:31:26 +08:00
parent 1a9b6569b7
commit efc19b2a69
1 changed files with 4 additions and 4 deletions
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8
src/kf-gins/gi_engine.cpp
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@ -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;