主流VIO论文推导及代码解析
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View Code? Open in Web Editor NEW主流VIO论文推导及代码解析
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vins-mono论文推导及代码解析中存在疑问
附录10.4 imu角度误差对k时刻角度误差的jacobian推导中，求的是k+1时刻到k时刻角度误差相对于k时刻姿态q的偏导数，而实际在求导过程中求的是对轴角的导数，姿态q是四元素表达的是四维，而轴角是三维，为什么可以做这种替换？有什么文献可以参考吗？
Hey Bro
Hey bro,
您好， 请问na nw nba nbw指的是什么？
＜＜VINS论文推导及代码解析＞＞ 第7页2.6节＂连续形势下PVQ增量的误差，协方差及jacobian＂中，公式10中 na nw nba nbw分别指的是什么？没有看明白，还望大佬能够给个指导，谢谢了
误差项导数状态方程是如何获得的？
您好，您的文章"VINS论文推导及代码解析"对我帮助很大，但还有一些疑惑，2.6节直接给出的t时刻误差项导数是如何获得的呢?
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