ori-drs / allan_variance_ros

ROS compatible tool to generate Allan Deviation plots

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about analysis.py

boeun98 opened this issue · comments

I have a problem.

I ran the analysis.py

but the biases about accelerometer and gyroscope x,y, and z have nan value.

What should I do???

results
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acceleration
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gyro
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And I modified the code in analysis.py

logx = np.log(x) and logy = np.log(y) ----> add logx = np.nan_to_num(logx) and logy = np.nan_to_num(logy)

coeffs, _ = curve_fit(line_func, logx, logy, bounds=~~~~~~ ----> coeffs, _ = curve_fit(line_func, logx, logy)

Hi @boeun98
I think you don't have enough data, it looks like you recorded less than 100s.
Absolute minimum you need is 1 hour of data but ideally 3 hours or more for better accuracy.