Question about the Integration estimate

[Gatsby23]

Dear Professor:
I have already found the composition equation in the Paper 《high-accuracy preintegration for visual-inertial navigation》. But I don't know how to calculate the derivates, and where is the supplementary material? Could you please give me some tips about it ?

[huaizheng]

I don't quite understand why you want to compute the derivatives, because here the preintegration is only used to compute the state estimate. While, for the derivatives about those terms, I think their equations (maybe not exactly what you need) are also presented in that paper.

[Gatsby23]

I don't quite understand why you want to compute the derivatives, because here the preintegration is only used to compute the state estimate. While, for the derivatives about those terms, I think their equations (maybe not exactly what you need) are also presented in that paper.

Really sorry for disturbing you. I'm a fresh man to the state estimation area. The robocentric formulation is quiet interesting and useful to me. I want to use it in my algorithm. However, the quaternion in my algorithm is the hamilton formulation to cooperate with other algorithms. So I wanna to figure out every details in the R-VIO algorithms. It's really shamed that wasting your time to answer the basic question. Thank you very much.

[huaizheng]

That is totally fine. I just want to make sure that I can provide the answers you need.

[Gatsby23]

That is totally fine. I just want to make sure that I can provide the answers you need.

Thank you very much. I'll check it more carefully and express the question more clearly.

[Gatsby23]

I don't quite understand why you want to compute the derivatives, because here the preintegration is only used to compute the state estimate. While, for the derivatives about those terms, I think their equations (maybe not exactly what you need) are also presented in that paper.

Sorry to disturb you again, but what is this equation ？Could you please give me some tips ？