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EKF_AHRS.m和calH.m中的两个问题 #6

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zhchyang2004 opened this issue Jul 26, 2020 · 0 comments

zhchyang2004 commented Jul 26, 2020

yuzhou, 你好!

针对代码有下面两个疑问, 期待得到回复.

雅可比Ak中的角速度为什么没有减掉偏移量x(k,5~7)呢?
https://github.com/yuzhou42/ESKF-Attitude-Estimation/blob/master/EKF_AHRS.m#L88-L91

这里计算detZ时, 6个'预计观测' 的前面是否应该加上负号?
例如: - 2*(q(2)*q(4) - q(1)*q(3))
https://github.com/yuzhou42/ESKF-Attitude-Estimation/blob/master/calH.m#L28-L34

谢谢!

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