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vel_cov参数问题 #85
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可以理解成加速度的估计误差
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主旨: [hku-mars/Point-LIO] vel_cov这个参数我百思不得其解啊 (Issue #85)
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感谢您的回复!但是如果在速度部分考虑加速度的估计误差的话,为什么没有在旋转部分考虑角速度的估计误差呢?这是出于什么考虑呢 |
因为直接观测是p和R,a是p的二阶导,而omg是R的一阶导。
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主旨: Re: [hku-mars/Point-LIO] vel_cov参数问题 (Issue #85)
可以理解成加速度的估计误差
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感谢您的回复!但是如果在速度部分考虑加速度的估计误差的话,为什么没有在旋转部分考虑角速度的估计误差呢?这是出于什么考虑呢
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当选择output模式时,Q矩阵里会有速度协方差vel_cov,论文中运动方程中速度公式里没有噪声项,然后我就推导不出这个参数。
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