Thank you for your excellent paper.
After reading your paper, I have two questions: 1. How does the updated measurement function H (x) come from? Can I interpret it as a pseudo-measurement? 2. How was the partial derivative of Formula (15) calculated? Could you give the specific derivation steps?
The measurement matrix H comes from the linear derivative of the measurement against the state, and from equation (14), there are only non-zero values in the matrix in three blocks corresponding to the rotation and position in i and j. It is not a pseudo measurement and the actual measurement is the network output displacement between state i and state j.
I attached an appendix file with the detailed derivations to this question.
tlio-appendix.pdf
Thank you for your excellent paper. After reading your paper, I have two questions: 1. How does the updated measurement function H (x) come from? Can I interpret it as a pseudo-measurement? 2. How was the partial derivative of Formula (15) calculated? Could you give the specific derivation steps?
best wishes