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请问一下，针对Propagation and Augmentation中Φ 和Q，论文中的公式是如何推导出来的 #16

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sandstone556 opened this issue Sep 5, 2024 · 0 comments

sandstone556 commented Sep 5, 2024

比照论文中的做法，Quaternion kinematics for the error-state Kalman filter，似乎只能得到
$\Phi = I_{15 \times 15} + Fdt$

$Q = GQ_{I}G^\top dt^2$

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