full derivation of invariant error dynamics

UMich-BipedLab / Contact-Aided-Invariant-EKF

Example code for contact-aided invariant extended Kalman filtering.

BSD 3-Clause "New" or "Revised" License

74 stars 26 forks source link

Open LeviD536 opened 5 years ago

LeviD536 commented 5 years ago

Thanks for your sharing. The example code works well with my own biped robot walk data.

But I am puzzled with the derivation of some equations in the paper titled

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation.

Could you please provide the full derivation of equation (20), the individual terms of the invariant error dynamics?

Thank you!

RossHartley commented 5 years ago

RossHartley commented 5 years ago

Let me know if that answers your question. It is simply applying the chain rule and making a first-order approximation.

LeviD536 commented 5 years ago

@RossHartley Thanks very much for your file. It exactly answers my question :)