# gaowenliang/imu_utils

A ROS package tool to analyze the IMU performance.

Repository: https://github.com/gaowenliang/imu_utils
Canonical: https://ross.abutalabs.com/products/imu_utils
Homepage: https://gaowenliang.github.io/imu_utils
Language: C++
License: MIT
License Family: permissive
Topics: imu, allan, gyro, calibration
Last push: 2026-03-19T10:23:52+00:00

## Health v2 (maintenance only)
Score: 65/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 73, release rhythm 35, longevity 100
- inputs: {"age_days": 3129, "days_push": 167, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1736, forks 506 (observed 2026-08-28T04:05:29.769056+00:00)

## What it is
A ROS package written in C++ that analyzes IMU performance by computing Allan variance from stationary sensor data. It estimates gyroscope and accelerometer white noise and bias instability parameters, outputting YAML values and Matlab-drawn figures.

## Use cases
- characterize IMU noise parameters for sensor fusion
- compute Allan variance from a two-hour stationary IMU recording
- estimate gyroscope white noise and bias instability
- generate calibration YAML files for VINS or SLAM pipelines
- compare noise performance of different IMU models
- analyze rosbag-recorded IMU data offline

## When to choose
- you use ROS and need IMU noise parameters for visual-inertial navigation
- you want a C++ Allan variance tool with Matlab plotting scripts
- you need standard gyr_n/acc_n/gyr_w/acc_w values for filter tuning

## When to avoid
- you need a non-ROS standalone tool
- you want fully automated plotting without Matlab
- you need real-time IMU calibration rather than offline analysis

## Facets
- artifact type: library
- maturity: maintenance
- function: simulation, monitoring, data-science
- domain: robotics, hardware
- platform: cpp
- tags: imu, allan-variance, sensor-calibration, ros-package, noise-analysis, gyroscope, accelerometer, algorithms, linux, ros, matlab

## Member repositories
- gaowenliang/imu_utils (main) score 65

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:29.769056+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:30:41.111307+00:00, confidence not recorded.
  - readme: https://github.com/gaowenliang/imu_utils (fetched 2026-08-28T04:05:29.769056+00:00, sha 81234676a490)
- Data as of 2026-08-30T08:39:29.467469+00:00.