Why is the accelerometer noise value set quite large in IMU preIntegration?

[zhoupengwei]

Thank you for your excellent work！
I have doubts about the noise value setting of IMU accelerometer in the configuration file. (config_fr_iosb.yaml IMU/acc_n: 2000).
Can you explain about this? Is this to reduce the drift of z-axis? This value does not appear to be set from the calibration data.

Looking forward to your answer.

[whw-create]

哥们搞明白了吗？

[xiaofafafafa]

哥们搞明白了吗？