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zarathustr / FKF

Fast Kalman Filter for Attitude Estimation
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error in the code #2

Open KangliC opened 4 years ago

KangliC commented 4 years ago

https://github.com/zarathustr/FKF/blob/7b92758e54c35110346badd967e0625bafd0089d/main_performance.m#L74

The third low of the dk matrix should be (q3 q0 -q1).

Jihang commented 4 years ago

Based on equation 24 in Paper, The third row should be q2 -q0 -q1. The image is attached below:

Screen Shot 2020-06-24 at 5 32 51 PM