this is a ros package that add noise to ground truth imu message (such as the one outputs from gazebo_ros_imu.cpp plugin, adopted from gazebo_imu_plugin.cpp included in PX4's sitl_gazebo. the noise parameters available are:
/// Gyroscope noise density (two-sided spectrum) [rad/s/sqrt(Hz)]
double gyroscope_noise_density;
/// Gyroscope bias random walk [rad/s/s/sqrt(Hz)]
double gyroscope_random_walk;
/// Gyroscope bias correlation time constant [s]
double gyroscope_bias_correlation_time;
/// Gyroscope turn on bias standard deviation [rad/s]
double gyroscope_turn_on_bias_sigma;
/// Accelerometer noise density (two-sided spectrum) [m/s^2/sqrt(Hz)]
double accelerometer_noise_density;
/// Accelerometer bias random walk. [m/s^2/s/sqrt(Hz)]
double accelerometer_random_walk;
/// Accelerometer bias correlation time constant [s]
double accelerometer_bias_correlation_time;
/// Accelerometer turn on bias standard deviation [m/s^2]
double accelerometer_turn_on_bias_sigma;
/// Norm of the gravitational acceleration [m/s^2]
double gravity_magnitude;
The gazebo_imu_plugin.cpp is a gazebo plugin. It is developed by the following authors
* Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
* Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
* Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
* Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
* Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
An explanation of the nose parameters can be found at https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model
with the following references:
[1] "IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros", IEEE Std 952-1997, 1998 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=660628&isnumber=14457
[2] "Indirect Kalman Filter for 3D Attitude Estimation", Nikolas Trawny and Stergios I. Roumeliotis, MARS Lab Tech. Report Nr. 2005-002, Rev. 57 http://www-users.cs.umn.edu/~trawny/Publications/Quaternions_3D.pdf
[3] "Sigma-Point Kalman Filtering for Integrated GPS and Inertial Navigation", John L. Crassidis, University at Buffalo http://www.acsu.buffalo.edu/~johnc/gpsins_gnc05.pdf