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...This project enables users to compute those values using Allan variance analysis from recorded IMU data. The workflow involves recording IMU measurements with the device stationary, converting ROS bag files into MATLAB-compatible formats, and then running MATLAB scripts to generate Allan deviation plots. These plots are analyzed to determine noise density and random walk parameters for both gyroscopes and accelerometers. The repository also includes example data and plots from real sensors such as the XSENS MTI-G-700, Tango Yellowstone Tablet, and ASL-ETH VI-Sensor, providing reference points for interpretation.

This application talks to a GPS device over the NMEA protocol via the WIGSGPSComm API. The first version of the WIGS application will present the GPS data in an intuitive fashion, and later releases will be further enhanced with special map support.