imu_utils
A ROS package for analyzing IMU performance using Allan variance on stationary data.
What is imu_utils?
imu_utils is a ROS package that analyzes Inertial Measurement Unit (IMU) performance by computing Allan variance from stationary sensor data. It helps quantify noise parameters like white noise and bias instability for gyroscopes and accelerometers, which is essential for evaluating and calibrating IMUs in robotics and navigation systems. The tool processes data collected over extended periods (e.g., two hours) to provide accurate noise characterization.
Robotics engineers, researchers, and developers working with IMUs for navigation, drones, or autonomous systems who need to assess sensor noise and performance.
It offers an open-source, ROS-integrated alternative to proprietary IMU analysis tools, with support for multiple IMU models and frequencies, making it practical for real-world sensor evaluation and calibration.
Overview
A ROS package tool to analyze the IMU performance.
Use Cases
Best For
- Calibrating IMUs for drone or robotics applications
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