I am doing an EKF (Extended Kalman Filter) to fusion Visual Odometry with IMU information. I am using a ROS package called ethzasl-msf (I am using the multi sensor fusion because then I have to add some GPS data).
But the problem is that I need the noise and bias of the accelerometer and gyroscope. I am using an AR.Drone 2.0, and I don't have the IMU model, so I can't even guess those values.
As specified in the .yaml document, those values for an ADIS 16448 are:
- accelerometer noise: 0.0022563
- gyroscope noise: 0.04
- accelerometer noise bias: 8e-5 (it is not fixed)
- gyroscope noise bias: 3e-6 (it is not fixed)
I suppose that the noise of AR.Drone 2.0's IMU is worse, because it's a cheap quacopter. But I couldn't find any information about them. What values do you recommend me to use?