diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index 9e971ae9a585c3ba2b0f87f7471b17c792cb1538..5b4c94103b4a18d155043100692feb49e02443db 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -11,7 +11,7 @@ SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, ParamsSensorImu2dPt
 }
 
 SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, const ParamsSensorImu2d& _params) :
-        SensorBase("SensorImu2d", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), std::make_shared<StateBlock>(3, false, nullptr), (Eigen::Vector6d()<<_params.a_noise,_params.a_noise,_params.a_noise,_params.w_noise,_params.w_noise,_params.w_noise).finished(), false, false, true),
+        SensorBase("SensorImu2d", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), std::make_shared<StateBlock>(3, false, nullptr), (Eigen::Vector3d()<<_params.a_noise,_params.a_noise,_params.w_noise).finished(), false, false, true),
         a_noise(_params.a_noise),
         w_noise(_params.w_noise),
         ab_initial_stdev(_params.ab_initial_stdev),