IMU Random Walk Drift documentation clarification

2026 2 20
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更新时间：2026 2 20
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In the IMU sensor model, random walk drift is modelled as follows, is there a typo in the equation for Random walk drift (i.e. should it be beta_3(k-1) instead of beta_2(k-1)

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Ryan Salvo
Ryan Salvo 2026-2-20

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Hi Mahmoud,
Yes, that is correct. The Random Walk Drift equation should use on the right hand side of the equation. I have filed a bug fix request to fix this typo.

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