diff --git a/apps/lidar_odometry_step_1/lidar_odometry.cpp b/apps/lidar_odometry_step_1/lidar_odometry.cpp
index b0e2fb47..e7de94fd 100644
--- a/apps/lidar_odometry_step_1/lidar_odometry.cpp
+++ b/apps/lidar_odometry_step_1/lidar_odometry.cpp
@@ -330,7 +330,7 @@ void calculate_trajectory(Trajectory& trajectory, Imu& imu_data, LidarOdometryPa
 
         for (const auto& [timestamp_pair, gyr, acc] : imu_data)
         {
-            const double g = 9.81;
+            const double g = 9.80665;
             vqf_real_t gyr_vqf[3] = { static_cast<double>(gyr.x()), static_cast<double>(gyr.y()), static_cast<double>(gyr.z()) };
             vqf_real_t acc_vqf[3] = { static_cast<double>(acc.x()) * g,
                                       static_cast<double>(acc.y()) * g,
diff --git a/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp b/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
index b22aa9b1..ec4f8c60 100644
--- a/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
+++ b/apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
@@ -483,7 +483,7 @@ void alternative_approach()
 
                 for (const auto& [timestamp_pair, gyr, acc] : imu_data)
                 {
-                    const double g = 9.81;
+                    const double g = 9.80665;
                     vqf_real_t gyr_vqf[3] = { static_cast<double>(gyr.x()), static_cast<double>(gyr.y()), static_cast<double>(gyr.z()) };
                     vqf_real_t acc_vqf[3] = { static_cast<double>(acc.x()) * g, static_cast<double>(acc.y()) * g, static_cast<double>(acc.z()) * g };