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参数<param name="prop_at_freq_of_imu" type="bool" value="1"/>的问题 #90

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ysingfun opened this issue Jul 3, 2024 · 0 comments
Open

参数<param name="prop_at_freq_of_imu" type="bool" value="1"/>的问题 #90

ysingfun opened this issue Jul 3, 2024 · 0 comments

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@ysingfun
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ysingfun commented Jul 3, 2024 •
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请问，为什要将prop_at_freq_of_imu参数设置为true？
根据代码意思好像是按照imu消息的频率传播状态转移过程中的协方差。
每一个点云点或者imu消息用作测量更新状态之前，不应该先传播一遍状态和协方差吗？
请问，一般情况都是先验与后验融合，两个紧接着的后验估计也可以融合吗？
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