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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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Null Variables. #84

Closed Space4ARDev closed 3 years ago

Space4ARDev commented 5 years ago

What are the variables position_null, velocity_null and orientation null? They are just variables that keep last state? Thanks.

ke-sun commented 5 years ago

No, they are variables used later to modify the transition matrix and measurement jacobian, which ensures the consistency of the filter.