IMU Random Walk Drift documentation clarification
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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)
Accepted Answer
Ryan Salvo
on 20 Feb 2026 at 13:17
2 votes
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.
on the right hand side of the equation. I have filed a bug fix request to fix this typo. More Answers (0)
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on 20 Feb 2026 at 13:17
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