nwpuclydewang

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我也有一样的问题,请问一下,你解决了吗?

I'am confused about the Sagnac effect correction in doppler estimated.Could you tell me how to explain this equation? ![image](https://github.com/HKUST-Aerial-Robotics/GVINS/assets/88754190/e1b670e2-547a-48d6-8a8c-85ed0ab94eb1)