The algorithm has an altitude deviation when running on my device.

[huchao-heu]

Hello, everyone. I tried running GVINS on my device, however, there is a huge deviation in the height value of the positioning trajectory. The hardware I use is RealSense D455 and Ublox f9p. The camera frequency is 30Hz, and has been reduced to 10Hz in the algorithm, and the GNSS receiver frequency is 10Hz, and there is no hardware synchronization between them. The real trajectory is provided by RTK. After the initialization process is complete, the anchor position first has a slip and then stabilizes around a deviation value. This will result in a constant deviation for the entire trajectory. I wonder if it's a hardware or an algorithm problem. Can anyone help me with this? @shaozu The results are shown below: