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slow convergence and yaw drift In 9DOF Kalman Fusion

Question asked by Jiao Qing on Aug 16, 2016
Latest reply on Aug 18, 2016 by Mike Stanley

The euler angle performs slowly to convergence  when I rotate the device and then put it  stay stationary, both yaw、pitch and roll. What's more,The yaw drift is obvious when the device is stationary.

How can I adjust the covariance of  magnetic disturbance and linear acceleration ,increase or decrease?

FQWA_9DOF_GBY_KALMAN   1E-4F

FQWD_9DOF_GBY_KALMAN   0.5F

Is magnetic disturbance time constants concerned about the problem?

FCD_9DOF_GBY_KALMAN

Thanks for help!

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