Questions about the new dt term in F_update

[yifaan]

Hi Rodrigo,

I noticed you add dt in the F matrix. I don't really understand this, can you explain why do you need to multiply the fixed bias term with dt here?

F= [Fee Fev Fep (DCMbn)*dt Z (DCMbn) Z;
Fve Fvv Fvp Z (-DCMbn)*dt Z (-DCMbn);
Fpe Fpv Fpp Z Z Z Z;
Z Z Z Z Z Z Z;
Z Z Z Z Z Z Z;
Z Z Z Z Z Fgg Z;
Z Z Z Z Z Z Faa;
];

Regards

[rodralez]

Dear Yifaan,

Firstly, thank you very much for pointing out this problem.

I have read this implementation of F matrix in some paper, but I cannot remember where.

It seems that I tested this modification in F, but forgot to deleted.

The modified F seems to work well in NaveGo, but I will keep the original version, which is supported by several books in the Navigation field.

Regards.