The diagram does not match the result

[wbl17792615320]

Hello, in allan _ variance _ ros, why the data corresponding to the acceleration circle and the star can match the output result, while the data corresponding to the angular velocity circle and the star cannot match the output result, even several orders of magnitude worse.

My results：

My results：
#Accelerometer
accelerometer_noise_density: 0.0008376248418885106
accelerometer_random_walk: 2.591042775935633e-05

#Gyroscope
gyroscope_noise_density: 1.0752236145252607e-05
gyroscope_random_walk: 6.9924971907009525e-09

rostopic: '/sensors/imu' #Make sure this is correct
update_rate: 400.0 #Make sure this is correct

ps:I modified the name and frequency of IMU topics in the yaml file, but obviously nothing changed in the results

[raabuchanan]

Hi,
Could you please clarify what data you are using? Is it simulated or the rosbag I provided or your own data?

[raabuchanan]

I just tried again, simulating a rosbag then running estimation on the rosbag and got the following:

#Accelerometer
accelerometer_noise_density: 0.002561528431294409 
accelerometer_random_walk: 9.079971439106259e-05 

#Gyroscope
gyroscope_noise_density: 0.00019087356904881286 
gyroscope_random_walk: 4.118240612064778e-06 

rostopic: '/sensors/imu' #Make sure this is correct
update_rate: 400.0 #Make sure this is correct

Did you use the correct config file in allan_variance_ros/config/sim.yaml ?