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yuzhou42 / ESKF-Attitude-Estimation

Error-State KF algorithm to estimate attitude
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误差传播问题 #4

Open DrZreXZH opened 6 years ago

DrZreXZH commented 6 years ago

NicoChou您好

您在误差重置过程中将误差置为零， https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/df1152ab425aa22d4801c849742b86e3deeb6ec6/ESKF_AHRS.m#L59-L60 那 https://github.com/NicoChou/ESKF-Attitude-Estimation/blob/df1152ab425aa22d4801c849742b86e3deeb6ec6/propagateErrorStateAndCovar.m#L4-L7 这段代码进行误差传递有什么用呢

zhchyang2004 commented 4 years ago

L4-L7只是一个书写形式, 作为误差传播的预测方程. Joan Sol`a在文献Quaternion kinematics for the error-state Kalman filter 中的原文是: You should of course skip line (267) in your code. I recommend that you write it, though, but that you comment it out so that you are sure you did not forget anything. (267)式就是这里的预测方程det_x_prop= Fx*det_x;