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vel_cov参数问题 #85

Open liaraaaaaaa opened 3 months ago

liaraaaaaaa commented 3 months ago

当选择output模式时，Q矩阵里会有速度协方差vel_cov，论文中运动方程中速度公式里没有噪声项，然后我就推导不出这个参数。

Joanna-HE commented 3 months ago

可以理解成加速度的估计误差

寄件者: 许益豪@机器人组 @.> 寄件日期: 2024年5月21日 上午 10:22 收件者: hku-mars/Point-LIO @.> 副本: Subscribed @.***> 主旨: [hku-mars/Point-LIO] vel_cov这个参数我百思不得其解啊 (Issue #85)

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liaraaaaaaa commented 3 months ago

可以理解成加速度的估计误差 … ____ 寄件者: 许益豪@机器人组 @.> 寄件日期: 2024年5月21日 上午 10:22 收件者: hku-mars/Point-LIO @.> 副本: Subscribed @.> 主旨: [hku-mars/Point-LIO] vel_cov这个参数我百思不得其解啊 (Issue #85) ― Reply to this email directly, view it on GitHub<#85>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXS76CJ73BXITTQI2XLZDKVV7AVCNFSM6AAAAABIAWW2LOVHI2DSMVQWIX3LMV43ASLTON2WKOZSGMYDOMJSGY4DCMA. You are receiving this because you are subscribed to this thread.Message ID: @.>

感谢您的回复！但是如果在速度部分考虑加速度的估计误差的话，为什么没有在旋转部分考虑角速度的估计误差呢？这是出于什么考虑呢

Joanna-HE commented 3 months ago

因为直接观测是p和R，a是p的二阶导，而omg是R的一阶导。

寄件者: 许益豪@机器人组 @.> 寄件日期: 2024年5月21日 下午 05:44 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.***> 主旨: Re: [hku-mars/Point-LIO] vel_cov参数问题 (Issue #85)

可以理解成加速度的估计误差 … ____ 寄件者: 许益豪@机器人组 @.> 寄件日期: 2024年5月21日 上午 10:22 收件者: hku-mars/Point-LIO @.> 副本: Subscribed @.> 主旨: [hku-mars/Point-LIO] vel_cov这个参数我百思不得其解啊 (Issue #85https://github.com/hku-mars/Point-LIO/issues/85) D Reply to this email directly, view it on GitHub<#85https://github.com/hku-mars/Point-LIO/issues/85>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXS76CJ73BXITTQI2XLZDKVV7AVCNFSM6AAAAABIAWW2LOVHI2DSMVQWIX3LMV43ASLTON2WKOZSGMYDOMJSGY4DCMA. You are receiving this because you are subscribed to this thread.Message ID: @.>

感谢您的回复！但是如果在速度部分考虑加速度的估计误差的话，为什么没有在旋转部分考虑角速度的估计误差呢？这是出于什么考虑呢

― Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/85#issuecomment-2122216183, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXT33WVYUBQBJRXATNTZDMJPLAVCNFSM6AAAAABIAWW2LOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRSGIYTMMJYGM. You are receiving this because you commented.Message ID: @.***>