navlie.lib.imu.get_unbiased_imu

navlie.lib.imu.get_unbiased_imu(x: IMUState, u: IMU) → IMU

Removes bias from the measurement.

Parameters:

• x (IMUState) – Contains the biases

• u (IMU) – IMU data correupted by bias

Returns:

unbiased gyro and accelerometer measurements

Return type:

Tuple[np.ndarray, np.ndarray]

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