h-k8888

The code of the iros2021 paper. and when ? thanks.

哥，这个速度顺序写错了吧，而且就算是w X r， 这个66行里也写错了吧 64 delta_v(0) = w(1) * r(2) - w(2) * r(1); 65 delta_v(1) = w(2) * r(0) - w(0) * r(2); 66 delta_v(2) = w(1) * r(1)...

Questions about IMU data in Horizon.

5

When the device is stationary, the acceleration data output by IMU in horizon is about (0, 0, 0.98). Is the real acceleration divided by 9.81?? by rostopic echo /livox/imu -0.021400...

翔哥，请问您的Anderson Acceleration for on-Manifold Iterated Error State Kalman Filters论文RAL版本中，公式（16）是否存在笔误？ 从x0到xj正切空间的投影，最后一项是否与FASTLIO相同，应为x0？