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关于eskf公式论文与代码不一致的问题 #7

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iwander-all opened this issue Aug 20, 2023 · 0 comments
Open

关于eskf公式论文与代码不一致的问题 #7

iwander-all opened this issue Aug 20, 2023 · 0 comments

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@iwander-all
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博主，我是你的忠实粉丝，有一个疑惑我困扰了很久，就是在代码里，状态量的增量是solution = K * meas_vec + vec - K * Hsub * vec.block<12, 1>(0, 0)(1)，但是论文fast-lio公式(18)和代码似乎是正负号相反的，如果按照论文，应该是solution =- K * meas_vec - vec + K * Hsub * vec.block<12, 1>(0, 0)(2)，在阅读fast-livo和r3live的代码，发现它们的lio部分都是与(1)一致，而vio部分与(2)一致，请问作者如何理解
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@iwander-all