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ethz-asl / rovio

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bearing vector error-state time derivative #199

Open stihuangyuan opened 5 years ago

stihuangyuan commented 5 years ago

thanks for your great work. but i have some question about imu propagate F G matrix. for bearing vector error-state time derivative how could i compute it?

d (\delta u) / dt = d(u_t)/dt - d(u)/dt
u_t and u express true state and nominal state, and then use u time derivative. or \delta u = N(u)^T Log(R_t R^T) and then compute it time derivative

bloesch commented 5 years ago

I am not exactly sure what you mean. All Jacobians in Rovio are not derived via error-state contemplation but by directly computing derivatives on the manifold. Ultimately, both should lead to the same results.