xsens_mti30_imu

process[imu_an-1]: started with pid [10260]
[ INFO] [1631230172.663555986]: Loaded imu_topic: /imu/data
[ INFO] [1631230172.664508247]: Loaded imu_name: xsens
[ INFO] [1631230172.664728939]: Loaded data_save_path: /home/michal/catkin_ws/src/imu_utils/data/
[ INFO] [1631230172.664927664]: Loaded max_time_min: 200
[ INFO] [1631230172.665163926]: Loaded max_cluster: 100
gyr x  num of Cluster 100
gyr y  num of Cluster 100
gyr z  num of Cluster 100
acc x  num of Cluster 100
acc y  num of Cluster 100
acc z  num of Cluster 100
wait for imu data.
gyr x  numData 1719446
gyr x  start_t 1.63123e+09
gyr x  end_t 1.63124e+09
gyr x dt 
-------------14723.3 s
-------------245.388 min
-------------4.08979 h
gyr x  freq 116.784
gyr x  period 0.0085628
gyr y  numData 1719446
gyr y  start_t 1.63123e+09
gyr y  end_t 1.63124e+09
gyr y dt 
-------------14723.3 s
-------------245.388 min
-------------4.08979 h
gyr y  freq 116.784
gyr y  period 0.0085628
gyr z  numData 1719446
gyr z  start_t 1.63123e+09
gyr z  end_t 1.63124e+09
gyr z dt 
-------------14723.3 s
-------------245.388 min
-------------4.08979 h
gyr z  freq 116.784
gyr z  period 0.0085628
Gyro X 
C     5.2455    138.856   -5.01989    1.13888 -0.0148461
 Bias Instability 9.50495e-05 rad/s
 Bias Instability 7.30027e-05 rad/s, at 697.2 s
 White Noise 27.1834 rad/s
 White Noise 0.00761236 rad/s
  bias -0.139732 degree/s
-------------------
Gyro y 
C  -1.04043   154.238  -4.67886   1.51576 -0.013557
 Bias Instability 9.48135e-05 rad/s
 Bias Instability 0.000103932 rad/s, at 161.383 s
 White Noise 28.8102 rad/s
 White Noise 0.00803213 rad/s
  bias 0.23468 degree/s
-------------------
Gyro z 
C   -1.14387    156.467   -3.03622   0.958391 -0.0111037
 Bias Instability 2.88306e-05 rad/s
 Bias Instability 7.13559e-05 rad/s, at 240.538 s
 White Noise 29.7298 rad/s
 White Noise 0.00826094 rad/s
  bias 0.0749898 degree/s
-------------------
==============================================
==============================================
acc x  numData 1719446
acc x  start_t 1.63123e+09
acc x  end_t 1.63124e+09
acc x dt 
-------------14723.3 s
-------------245.388 min
-------------4.08979 h
acc x  freq 116.784
acc x  period 0.0085628
acc y  numData 1719446
acc y  start_t 1.63123e+09
acc y  end_t 1.63124e+09
acc y dt 
-------------14723.3 s
-------------245.388 min
-------------4.08979 h
acc y  freq 116.784
acc y  period 0.0085628
acc z  numData 1719446
acc z  start_t 1.63123e+09
acc z  end_t 1.63124e+09
acc z dt 
-------------14723.3 s
-------------245.388 min
-------------4.08979 h
acc z  freq 116.784
acc z  period 0.0085628
acc X 
C -0.000125592   0.00232383 -0.000432345  7.52936e-05 -9.05976e-07
 Bias Instability 0.000630017 m/s^2
 White Noise 0.0180166 m/s^2
-------------------
acc y 
C -0.000255673   0.00369802  -0.00162098  0.000116565 -1.49835e-06
 Bias Instability 0.000390835 m/s^2
 White Noise 0.0257611 m/s^2
-------------------
acc z 
C  2.01281e-05  0.000857431  0.000493747     2.52e-05 -2.05227e-07
 Bias Instability 0.000793884 m/s^2
 White Noise 0.0144796 m/s^2
-------------------