第三讲(下)_VIO残差函数的构建及雅克比推导[未完成]
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\(x_i\)是15维的状态量,因为姿态\(q_{wbi}\)是指更新量\(\delta\)
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IMU预积分
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预积分量的方差
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- F是状态量\(x_k\)对状态量\(x_{k-1}\)所携带的误差量\(\delta x_{k-1}\)的雅克比矩阵
- G是状态量\(x_k\)对输入量\(u_{k-1}\)所携带的误差量\(\delta u_{k-1}\)的雅克比矩阵
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\(x_i\)是15维的状态量,因为姿态\(q_{wbi}\)是指更新量\(\delta\)
- F是状态量\(x_k\)对状态量\(x_{k-1}\)所携带的误差量\(\delta x_{k-1}\)的雅克比矩阵
- G是状态量\(x_k\)对输入量\(u_{k-1}\)所携带的误差量\(\delta u_{k-1}\)的雅克比矩阵