robocar2018

@milkcoffee365 , @paaraujo , @scott81321 First say my conclusion, line 221 should be: `v_body += Rot_c_i.T.dot(self.skew(u[:3] - b_omega).dot(t_c_i))` in other words, `self.skew(u[:3] - b_omega).dot(t_c_i)` is the velocity in the IMU-frame,...

@vkorotkine , thanks for your reminder. @scott81321 , Vkorotkine is correct, the IEEE version fixed the error. Below is a link for the IEEE version, please see the equation (14),...

@scott81321 , here is the result of my derivation for the H H = A[0, R_IMU_T_n, 0, skew(p_c_n), 0, B, C], with A the same as paper's definition. B =...

@scott81321 , for the IEEE paper, at least we can see the common extrinsic matrix is extracted out for the H matrix, which is reflected inside the matrix A. While...

@scott81321 , yes you are right. Also I added some comments in my previous reply. 1. 'C' in the equation of the paper is 'Omega' in the code, which is...

@scott81321 , below is my updated measurement Jacobian matrix H in the code. Please let me know if you have any questions, thanks. Basically in the original code, I found...

@scott81321, I don't think this algorithm can work well when the vehicle stops, since we don't use those measurements that indicate the vehicle is in a static state (like ZUPT)....

@scott81321, Yes, Looks like it can work. But I guess yaw would still drift in a longer term when the vehicle stops for a long time. Anyway, adding ZUPT feature...

@scott81321 , no problem. FYI: I just tried compared the Jacobian matrix H based on my derivation and the one from the IEEE paper on two data slices and observed...

> I tried to figure out the sup.pdf file, but I get the formula derivation like this,  but in the sup.pdf flie,  the  whether you used the...