Hi, guys! Why do you use the following condition to see if we are current at zero velocity?
$$\tilde{\mathbf{z}}^T (\mathbf{H} \mathbf{P} \mathbf{H}^T + \alpha \mathbf{R})^{-1} < \chi^2$$
What does $\mathbf{H},\mathbf{P},\mathbf{R}$ means? Does there exist an detailed explanation or reference?
Hi, guys! Why do you use the following condition to see if we are current at zero velocity? $$\tilde{\mathbf{z}}^T (\mathbf{H} \mathbf{P} \mathbf{H}^T + \alpha \mathbf{R})^{-1} < \chi^2$$ What does $\mathbf{H},\mathbf{P},\mathbf{R}$ means? Does there exist an detailed explanation or reference?