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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？ ![fulu](https://user-images.githubusercontent.com/37269147/95673335-13ece380-0bda-11eb-8447-c242503b2342.jpg)

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主流VIO论文推导及代码解析

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