How to derive equation from 6 to 9

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

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How to derive equation from 6 to 9 #159

Open zhaozhongch opened 6 years ago

zhaozhongch commented 6 years ago

Hi there Maybe this question is not that properply to ask here but I don't think if I post this on stackoverflow I'll get answer. In your paper <> I don't know how get equation 9 from equation 6. Seems i just need take derivatives with respect to t? But my math background is not that strong. I have difficulty getting anyone of them.... Is there any other paper or book can tell me how to deal with those derivatives? Thanks Zhaozhong

qintonguav commented 6 years ago

I suggest you read this tutorial paper, 'Indirect Kalman Filter for 3D Attitude Estimation', from MARS LAB.