Goniometer and IMU
IMU is ADIS 16375 - 2400 samples per second
During the calibration process the goniometer rotates the camera about 2 axes (y & z on Fig.1) by precisely known angles. To calibrate IMU one needs to match the goniometer angles with the IMU data. Notes:
- The images are taken in the middle of the rest state of the goniometer.
- IMU log contains 3 types of events: IMU data packet, GPS data packet, Image captured.
- Images timestamps are recorded in the IMU log.
Calibration process output examples:
Axial - angle about the z-axis in degrees (positive rotation is shown on Fig.1) Tilt - angle about the y-axis in degrees (positive rotation is shown on Fig.1)
- Other goniometer and camera parameters: Camera_parameters.csv