Changing IMU Noise Parameters for the Realsense D435i

[Ryan-Red]

See #29 and UZ-SLAMLab/ORB_SLAM3#346

[Ryan-Red]

Results from running Allan Variance code (see https://github.com/Ryan-Red/AllanVariance):

Accelerometer:

${A}_{x}$

${\sigma}_{err}$ = 0.01066

${\sigma}_{bias}$ = 0.00930

${A}_{y}$

${\sigma}_{err}$ = 0.009769

${\sigma}_{bias}$ = 0.0067668

${A}_{z}$:

${\sigma}_{err}$ = 0.0091809

${\sigma}_{bias}$ = 0.0066491

[Ryan-Red]

Gyroscope:

${G}_{x}$

${\sigma}_{err}$ = 0.008449

${\sigma}_{bias}$ = 0.000635

${G}_{y}$

${\sigma}_{err}$ = 0.0007782

${\sigma}_{bias}$ = 0.000665

${G}_{z}$:

${\sigma}_{err}$ = 0.0006561

${\sigma}_{bias}$ = 0.0007541

[Ryan-Red]

To get the error and bias for all axes on the accelerometers and gyroscopes, use:
${\sigma}_{err}^{T} = max (\sigma_x, \sigma_y, \sigma_z)$ (err subscript dropped)

${\sigma}_{bias}^{T} = max (\sigma_x, \sigma_y, \sigma_z)$ (bias subscript dropped)

For the accelerometer:

${\sigma}_{err}^{T} = 0.01066$

${\sigma}_{bias}^{T} = 0.00930$

For the gyroscope:

${\sigma}_{err}^{T} = 0.008449$

${\sigma}_{bias}^{T} = 0.000754$

[DavidPetkovsek]

Accelerometer Noise

${\sigma}_{err}^{T} = 0.01066$

Accelerometer Walk

${\sigma}_{bias}^{T} = 0.00930$

Gyroscope Noise

${\sigma}_{err}^{T} = 0.008449$

Gyroscope Walk

${\sigma}_{bias}^{T} = 0.000754$