manual 2.4.2 Time update of EKF (E.7.12) maybe have some mistake?

tomojitakasu / RTKLIB

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manual 2.4.2 Time update of EKF (E.7.12) maybe have some mistake? #688

Closed ItsGettingWorse closed 2 years ago

ItsGettingWorse commented 2 years ago

HI everyone! My question is, b is the inter-station single difference between the base station and the mobile station, so why is the dimension of the identity matrix (3M-3)x(3M-3), not 3Mx3M, in the calculation?

ItsGettingWorse commented 2 years ago

ok! There are differences between the code and the document. The second-order acceleration model is used in the code, but the document say that the model is first-order velocity. You need to look at the code carefully.