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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Consulting VPQ plan of zupt #281

Closed menglitanhua closed 1 year ago

menglitanhua commented 1 year ago

hello, could you please provide a formula derivation of VPQ zupt plan or some reference papers, corresponding code 280-297 in UpdaterZeroVelocity.cpp. I have a little doubt about the definition of R's residual and the derivation of its jacobian, hoping to get your help. thanks.

goldbattle commented 1 year ago

Could you clarify your question? What does VPQ stand for? There is an open issue about the zero-velocity update here: https://github.com/rpng/open_vins/issues/273