ubuntu 安裝 imu-tk ，校準加速度計和陀螺儀

ubuntu 安裝 imu-tk ，校準加速度計和陀螺儀

github源碼：

git clone https://github.com/Kyle-ak/imu_tk.git

安裝依賴

sudo apt-get install build-essential cmake libeigen3-dev libqt4-dev libqt4-opengl-dev freeglut3-dev gnuplot

編譯源碼

cd imu_tk
mkdir build
cd build
cmake  ..
make

編譯報錯 ceres 找不到 ceres_xxx_.cmake

安裝ceres
ceres-solver.org
linux 安裝方法 http://ceres-solver.org/installation.html#linux

編譯完成後測試

命令行切換到 imu_tk/bin ,執行以下命令

./test_imu_calib test_data/xsens_acc.mat test_data/xsens_gyro.mat

加速度計校準結果：係數矩陣、xyz精度矩陣（尺度）、靜態偏差

Accelerometers calibration: Better calibration obtained using threshold multiplier 6 with residual 0.120131
Misalignment Matrix
          1  -0.0033593 -0.00890639
          0           1  -0.0213341
         -0           0           1
Scale Matrix
0.00241278          0          0
         0 0.00242712          0
         0          0 0.00241168
Bias Vector
33124.2
33275.2
32364.4

Accelerometers calibration: inverse scale factors:
414.459
412.01
414.649