sunbingfeng

It seems that the two places are similar, and is hard to distinguish even for human being. Adding odometry might help, but tuning the weights of odom is troublesome. So...

In my opinion, `gravity_vector_` is with reference to the body frame while `orientation_` means the transformation from body frame to world frame, and `UnitZ` vector stands for the normalized inverse...

Yeah, it works.

这个我可以解答一下，作者实现里面的`X_`对应的是全局扰动，而Quaternion kinematics for the error-state Kalman filter中使用的是局部扰动，因此推导的转移矩阵有差异，相应的update部分就对应扰动的左乘/右乘了。 至于B矩阵，我也很好奇为什么会有一个`pose_.block(0, 0)`，我也怀疑推导有问题。但是，这个无非影响到Noise的大小问题，因此影响没有那么大。 求原作者解答一下