The problem of IMU noise model units

[zhaoxin0716]

Hello everyone, sorry to bother you.
I am not very clear about the noise model units of IMU in GTSAM.
For example, in the example of IMUKittiExampleGPS.cpp, I am not sure the unit of accelerometer_sigma，Gyroscope_sigma，Integration_sigma，Accelerometer_bias_sigma，Gyroscope_bias_sigma.
Perhaps Gyroscope_bias_sigma is rad/s,Accelerometer_bias_sigma is m/s^2.
If anyone knows about this, I would greatly appreciate it。

[scott-robotics]

The units of sigma (standard deviation) are the same as the units of the original data. So your assumption is correct.