Data Collection for IMU Vehicle calibration
The IMU Vehicle Calibration process requires the accelerometer and gyroscope measurements from the IMU sensor when it is attached to the car. The user needs to collect three data files in three different states of the car.
- 1.Stationary Vehicle on Level Ground: This is the state of the car in which the car is in off state and is parked on a Level Ground. No one should be in the car. Collect the data for a duration of 20 secs and format the data to the specified csv format. Having multiple such data files to upload is possible, but is not necessary.
- 2.Stationary Vehicle on Road: This is the state of the car in which the car is in off state on the test road with the people sitting in the car. Collect the data for a duration of 20 secs and format the data to the specified csv format. Having multiple such data files to upload is possible, but is not necessary.
- 3.Moving Vehicle on Road: This is the state of the car in which the car is in moving state on the test road. Road needs to be a straight road so that the car can make a straight motion. Also, while moving the car needs to accelerate and decelerate 3-4 times. Also, the user needs to collect this data on the same road and path for 5 times. Although, even a single file does give back some result, the accuracy of the yaw angle estimation is increased by having multiple data files. In this case as well, the data needs to be formatted to the specified csv format.
Note: The data is expected to be in a csv file with no header, and the data values are in this order: timestamp, accel_x(m/s2), accel_y, accel_z, gyro_x(rad/s), gyro_y, gyro_z