JzHuai0108
commented
9 months ago The contribution of accelerometer noise (of continuous time noise magnitude sigma_a_c) on the covariance of the position from t1 to t2 can be computed by the double integral. \int_t1^t2 sigma_ac^2 (\int\tau^t2 du)^2 d\tau = sigma_a_c^2 0.5 (t2- t1)^3. (用梯形法算的)。 如果精确的算是 sigma_a_c^2 0.33 (t2- t1)^3 For more info, see my thesis eq (4.31) on page 102 and eq (A.25) on page 194.
Hi: In IMUError.cpp， const double sigma2_p = 0.5 dt dt sigma2_v; is const double sigma2_p = 0.25 dt dt sigma2_v? Thank you