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大佬们，我最近在做imu和rtk融合这块，使用了状态误差卡尔曼(ESKF)，在网上下载了imu_gps_localization这个功能包，但是小车不动的时候运动轨迹也在不停的动，当gps停止输入，仅有imu的时候，轨迹就在做匀速运动，我猜是imu向x轴倾斜导致重力在x轴上有分量导致的，请问怎么解决这个问题
@yolo 确认下IMU坐标系
