Vehicle moving a lot with dead reckoning even though stationary

Hey all,

I was hoping to get some help analysing some logs. I am using just the IMU’s inside the Pixhawk 6X Pro for dead reckoning. However the drift is way more than expected. (thousands of meters in just a few minutes).

I have tried recalibrating multiple times, I’ve tried to adjust the bias values, but nothing so far has helped. I was hoping to get some help here.

This log was performed while the vehicle was stationary:

This one is performed while moving the vehicle around a bit (within a radius of ~30 cm) and eventualy putting it back where it was picked up:

The first one, where the vehicle is stationary, the estimated position of x and y is perfectly linearly moving. I would expect there to be some noise because of the dead reckoning.

The second one is a bit better, but still moving about ~3500 meters in just 2 minutes.

I am not sure what else I can try to help make the estimation more accurate, so any help would be much appriciated!