Derivation of continuous-time linearized dynamics of error terms

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

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Derivation of continuous-time linearized dynamics of error terms #368

Open SubMishMar opened 3 years ago

SubMishMar commented 3 years ago

Hi, Can you please provide me some insights into how you derived Equation 9 in the VINS-Mono paper, titled "VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator". The equations I am talking about are:

Screenshot from 2021-02-14 13-53-53

I will appreciate some help in understanding how one can derive these. Thanks.