IMU递推和误差模型参考：FAST-LIO公式推导
| 01 | 02 | |
|---|---|---|
| 估计轨迹与参考轨迹 |  |
 |
| 25米位置相对精度 |  |
 |
| APE & RPE | APE: 5.564, 12.127 RPE(25m): 0.49 / 1.76% RPE(50m): 0.85 / 1.78% RPE(100m): 1.57 / 1.95% RPE(200m): 3.00 / 2.42% |
APE: 1.801, 5.312 RPE(25m): 0.37 / 0.84% RPE(50m): 0.53 / 0.86% RPE(100m): 0.80 / 0.97% RPE(200m): 1.24 / 1.30% |