I’ve uploaded some IMU data for you that I’ve recorded a while ago here: 2021-11-14_imu_rosbags_allan_variance.zip
This archive contains IMU data for the computation of Allan Variance parameters for the following IMUs:
-
2021-11-13-imu_calib.bag:- ADIS 16460 IMU - sampling frequency: 100 Hz (data in the rosbag is always repeated once)
- Realsense T265 onboard IMU (probably Bosch BMI055) - sampling frequency: 200 Hz
- Realsense D455 onboard IMU (probably Bosch BMI055) - sampling frequency: 200 Hz
-
2021-11-14-imu_calib_phidgets.bag:- PhidgetSpatial Precision 3/3/3 High Resolution 1044_0 - sampling frequency: 250 Hz
Accelerations are in m/s^2, and rotational velocities are in rad/sec.
The sensors were not moved during recording. The recording took place on a table in an unoccupied room at room temperature (around 20°C). No further measures for vibration damping or fine-graded temperature control were taken. Duration of recording: 300 minutes.
The archive also contains Allan Variance data computed using the following tools:
- GitHub - ori-drs/allan_variance_ros: ROS compatible tool to generate Allan Deviation plots
- GitHub - mintar/imu_utils: A ROS package tool to analyze the IMU performance.
Have fun!