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PetWorm / LARVIO

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
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连续状态转移矩阵的离散化 #11

Closed jsYangCode closed 3 years ago

jsYangCode commented 3 years ago

您好 邱博！请教您一个公式推导问题。在连续的状态转移矩阵Phi中，式38,41,42,46,47是如何推导进行离散化的啊？能对其中某个进行讲解一下吗？十分感谢！ Screenshot from 2021-02-04 14-09-07 Screenshot from 2021-02-04 14-05-28