Introduction

This is a project for imu heading angle calibration and evalution.

Prerequisites

• Cmake
• eigen 3

Compile

Compile in their respective folders

# mkdir build
mkdir -p build && cd build
# build
cmake .. && make

Calibration data collection

According to the figure below for data collection, the calibration vehicle records IMU and GPS data in a straight line.

Run

run command:

# run imu heading calibration
./bin/run_imu_heading method_id <data_dir>

• Imu heading calibration: The imu heading angle is obtained by the registration calculation of GPS trajectory and imu data.

• Imu heading evaluation: Speed projection verification of imu through the calibrated heading angle of imu.