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mbrossar / ai-imu-dr

AI-IMU Dead-Reckoning
MIT License
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about sup.pdf #73

Closed yuqJin closed 2 years ago

yuqJin commented 2 years ago

This is a very good example about solving H, but I would like to ask about this step image The transpose is gone. And the content in the second bracket does not correspond to formula (5). Can someone explain it to me? thank you very much!

Rajat-Arora commented 1 year ago

Hey @yuqJin were you able to figure it out?

paaraujo commented 1 year ago

@Rajat-Arora, I hope this can help:

equation

Rajat-Arora commented 1 year ago

@paaraujo Thanks a lot for your help. Could you please help me derive the complete H matrix of variables corresponding to biases and car to imu rotation and translation? Specifically, the last 4 terms in the H matrix. image

I would be really grateful for your help.

Rajat-Arora commented 1 year ago

Hi @paaraujo, could you please describe more about how did you get the negative sign in the bracket in the following equation? image

According to me and following sup.pdf after linearization, it should become, image and not image

Could you please describe how did you get it?

Also, after getting R, why didn't we take a transpose while substituting it into equation number 6?

linsongxue commented 9 months ago

Hi @paaraujo, could you please describe more about how did you get the negative sign in the bracket in the following equation? image

According to me and following sup.pdf after linearization, it should become, image and not image

Could you please describe how did you get it?

Also, after getting R, why didn't we take a transpose while substituting it into equation number 6?

Hi @Rajat-Arora, have you solved this question? Would you mind sharing the solution if you have done.