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HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
GNU General Public License v3.0
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unit2rcv_pos in code #22

Closed dean1314 closed 2 years ago

dean1314 commented 2 years ago

Hello I find you use dopp to constrain the position in code as follow Eigen::Matrix3d unit2rcv_pos; for (size_t i = 0; i < 3; ++i) { for (size_t j = 0; j < 3; ++j) { if (i == j) unit2rcv_pos(i, j) = (norm2-rcv2sat_ecef(i)rcv2sat_ecef(i))/norm3; else unit2rcv_pos(i, j) = (-rcv2sat_ecef(i)rcv2sat_ecef(j))/norm3; } } but this method don't mention in your paper, so can you give me some papers about this method

shaozu commented 2 years ago

Hi, @dean1314. the term unit2rcv_pos is a part of the jacobian of the Doppler residual with respect to the receiver's position. It does not involve any special method but just plain derivatives. In fact, that term is very small, and you can safely ignore it.

dean1314 commented 2 years ago

Thanks but i don't see any receiver's position in the Doppler residual formula, the Doppler residual formula as follow image

shaozu commented 2 years ago

It's in the directional vector \kappa.