IMU的坐标系和初始化

用IMU的数据进行机器人位置和姿态的估计，比如acc或者gyro积分每个sample怎么进行坐标变换，怎么由rawdata得到位置和姿态信息的计算细节等。 In recent years, microelectromechanical system (MEMS) inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain position and orientation information. These estimates are accurate on a short time scale, but suer from integration drift over longer time scales. To overcome this issue, inertial sensors are typically combined with additional sensors and models. In this tutorial we focus on the signal processing aspects of position and orientation estimation using inertial sensors. We discuss dierent modeling choices and a selected number of important algorithms. The algorithms include optimization-based smoothing and ltering as well as computationally cheaper extended Kalman lter and complementary lter implementations. The quality of their estimates is illustrated using both experimental and simulated data.

视觉SLAM初始化IMU算法研究，黄源，刘建国，近些年视觉惯性SLAM算法研究取得重大成果,能够较精确地计算传感器的增量运动。然而这些方法都缺少闭环,即使重复访问同一个地方,而��

2. 坐标系转换：根据需要，可能需要将数据从IMU的坐标系转换到ROS的标准坐标系（通常是右手坐标系，X前，Y右，Z上）。 3. 数据融合：如果IMU包含多个传感器，例如陀螺仪和加速度计，需要将它们的数据融合，以减小...