{"id":18588,"date":"2024-02-22T11:40:04","date_gmt":"2024-02-22T03:40:04","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=18588"},"modified":"2024-02-22T11:42:36","modified_gmt":"2024-02-22T03:42:36","slug":"%e8%81%8a%e8%81%8a%e8%a7%86%e8%a7%89%e6%83%af%e6%80%a7%e9%87%8c%e7%a8%8b%e8%ae%a1%e7%9a%84imu%e9%a2%84%e7%a7%af%e5%88%86%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/02\/22\/18588\/","title":{"rendered":"\u804a\u804a\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1\u7684IMU\u9884\u79ef\u5206\u6a21\u578b"},"content":{"rendered":"<div class=\"article-desc\">\u5728VIO\u5f00\u6e90\u6846\u67b6\uff08\u5982VINS-MONO\uff09\u4e2d\uff0cIMU\u9884\u79ef\u5206\u90e8\u5206\u5c5e\u4e8e\u524d\u7aef\u90e8\u5206\uff0c\u662f\u5728\u91c7\u96c6\u4e86IMU\u6570\u636e\u4e4b\u540e\u5c31\u7acb\u523b\u8fdb\u884c\u7684\u8fd0\u7b97\u3002<\/div>\n<div id=\"postspictures\" class=\"article-content\">\n<div id=\"container\" class=\"container am-engine\" 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loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18620\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/e35c20c2068438f1eb14744d8c098649442701-1.png\" width=\"874\" height=\"108\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/e35c20c2068438f1eb14744d8c098649442701-1.png 874w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/e35c20c2068438f1eb14744d8c098649442701-1-300x37.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/e35c20c2068438f1eb14744d8c098649442701-1-150x19.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/e35c20c2068438f1eb14744d8c098649442701-1-768x95.png 768w\" sizes=\"auto, (max-width: 874px) 100vw, 874px\" \/><\/p>\n<p><img data-dominant-color=\"f6f6f6\" data-has-transparency=\"false\" style=\"--dominant-color: #f6f6f6;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18621\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/1339ff452dc961e223826432f6abe44efe560b-1.png\" width=\"609\" height=\"224\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/1339ff452dc961e223826432f6abe44efe560b-1.png 609w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/1339ff452dc961e223826432f6abe44efe560b-1-300x110.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/1339ff452dc961e223826432f6abe44efe560b-1-150x55.png 150w\" sizes=\"auto, (max-width: 609px) 100vw, 609px\" \/><\/p>\n<p><img data-dominant-color=\"e9e9ea\" data-has-transparency=\"false\" style=\"--dominant-color: #e9e9ea;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18622\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/83ecd7f507619151f650554417c418d788d588-1.png\" width=\"881\" height=\"78\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/83ecd7f507619151f650554417c418d788d588-1.png 881w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/83ecd7f507619151f650554417c418d788d588-1-300x27.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/83ecd7f507619151f650554417c418d788d588-1-150x13.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/83ecd7f507619151f650554417c418d788d588-1-768x68.png 768w\" sizes=\"auto, (max-width: 881px) 100vw, 881px\" \/><\/p>\n<p><img data-dominant-color=\"f6f6f6\" data-has-transparency=\"false\" style=\"--dominant-color: #f6f6f6;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18623\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/01a507417141662afbe850ee9ea07328f9788d-1.png\" width=\"361\" height=\"221\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/01a507417141662afbe850ee9ea07328f9788d-1.png 361w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/01a507417141662afbe850ee9ea07328f9788d-1-300x184.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/01a507417141662afbe850ee9ea07328f9788d-1-150x92.png 150w\" sizes=\"auto, (max-width: 361px) 100vw, 361px\" \/><\/p>\n<p class=\"js_darkmode__43\">\u6539\u53eb\u00a0<strong>IMU\u9884\u79ef\u5206<\/strong>\u3002\u5206\u522b\u5bf9\u5e94\u4e86\u4f4d\u7f6e\uff0c\u901f\u5ea6\u548c\u59ff\u6001\u3002<\/p>\n<p 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https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/9313a873803532660de6214e15c0a4b3f35b48-1-300x196.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/9313a873803532660de6214e15c0a4b3f35b48-1-150x98.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p>IMU\u76f8\u673a\u6a21\u578b<\/p>\n<h3>\u9884\u79ef\u5206\u7684\u79bb\u6563\u5f62\u5f0f<\/h3>\n<p><img data-dominant-color=\"efefef\" data-has-transparency=\"false\" style=\"--dominant-color: #efefef;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18625\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/455ed83513c414ada46626f262ee1b40ad19c5-1.png\" width=\"863\" height=\"69\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/455ed83513c414ada46626f262ee1b40ad19c5-1.png 863w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/455ed83513c414ada46626f262ee1b40ad19c5-1-300x24.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/455ed83513c414ada46626f262ee1b40ad19c5-1-150x12.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/455ed83513c414ada46626f262ee1b40ad19c5-1-768x61.png 768w\" sizes=\"auto, (max-width: 863px) 100vw, 863px\" \/><\/p>\n<p><img data-dominant-color=\"f7f7f7\" data-has-transparency=\"false\" style=\"--dominant-color: #f7f7f7;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18626\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/26a0f60271501ba2c354520f39836b9c3475b9-1.png\" width=\"542\" height=\"379\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/26a0f60271501ba2c354520f39836b9c3475b9-1.png 542w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/26a0f60271501ba2c354520f39836b9c3475b9-1-300x210.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/26a0f60271501ba2c354520f39836b9c3475b9-1-150x105.png 150w\" sizes=\"auto, (max-width: 542px) 100vw, 542px\" \/><\/p>\n<h3>IMU\u7684\u9884\u79ef\u5206\u8bef\u5dee<\/h3>\n<p class=\"js_darkmode__54\">\u4e00\u6bb5\u65f6\u95f4\u5185IMU\u6784\u5efa\u7684\u9884\u79ef\u5206\u91cf\u4f5c\u4e3a\u6d4b\u91cf\u503c\uff0c\u5bf9\u4e24\u65f6\u523b\u4e4b\u95f4\u7684\u72b6\u6001\u91cf\u8fdb\u884c\u7ea6\u675f\u3002<\/p>\n<p><img data-dominant-color=\"f5f5f5\" data-has-transparency=\"false\" style=\"--dominant-color: #f5f5f5;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-18627\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/a8f0f3f86b2919f878e6943198a1a3852f5e1a-1.png\" width=\"684\" height=\"215\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/a8f0f3f86b2919f878e6943198a1a3852f5e1a-1.png 684w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/a8f0f3f86b2919f878e6943198a1a3852f5e1a-1-300x94.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/02\/a8f0f3f86b2919f878e6943198a1a3852f5e1a-1-150x47.png 150w\" sizes=\"auto, (max-width: 684px) 100vw, 684px\" \/><\/p>\n<p class=\"js_darkmode__56\">\u8bef\u5dee\u4e2d\u7684\u4f4d\u79fb\uff0c\u901f\u5ea6\u548c\u504f\u7f6e\u90fd\u662f\u76f4\u63a5\u76f8\u51cf\u5f97\u5230\u7684\uff0c\u4e5f\u5c31\u662f\u6d4b\u91cf\u503c\u51cf\u4f30\u8ba1\u503c\u3002\u7b2c\u4e8c\u884c\u662f\u56db\u5143\u6570\u7684\u65cb\u8f6c\u8bef\u5dee\u3002<\/p>\n<p 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