Comments (12)
@xiaotaw 你好,请问下方便把详细推导文档分享下吗?谢谢! [email protected]
之前截图这版有误,修正之后的版本,整理了一下,放到了知乎上,排版稍微有点差,暂时没有时间去优化,勉强也能看。https://zhuanlan.zhihu.com/p/538975422
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@cuishiwei 代码和论文是一致的,形式上差一个转置。我之前手写的可能推错了,也不去做校验了。后面又推一个电子版的,供参考。
简略的推导过程
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根据error state的定义:真值 x_k = propagated x_k \boxplus error-state x_k,h_j 函数中的真值 x_k可以替换成 ( propagated x_k \boxplus error-state x_k), 由于error-state x_k很小,所以可以根据泰勒公式在将原的h_j(真值 x_k, {L_j} n_{f_j})在 h_j(propagated x_k, {L_j} n_{f_j})处进行线性化(等于说“在error-state x_k = 0处进行线性化”)。
因此 H矩阵的物理含义就是h_j函数对error-state x_k的Jacobin matrix。
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这个H是对称三角阵吗?能否给个H的具体什么形式 。 H = P_cross * R * G + G ???
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这个H是对称三角阵吗?能否给个H的具体什么形式 。 H = P_cross * R * G + G ???
首先你要知道hj()是一个一维的数。
H_j是H矩阵的第j行,H_j 是一个1×18的向量但是只有前6个不为0,前三个是对旋转的偏导,第四到第六个是对位移的偏导。具体的解析形式我有空了会写一个。
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Sorry fot the late reply.
For delta p, I think it is right.
But for delta R, looks like a bit weired. delta R should be a R^3 vector not a rotation matrix. You can follow the below guide:
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okay, thank you!
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@XW-HKU 我推出来的公式和代码中的不太一样,请帮忙看看。
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@XW-HKU 我推出来的公式和代码中的不太一样,请帮忙看看。
你好,请教一下这个求导过程,最后怎么理解的?你照片中确实和代码有出入啊。
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@xiaotaw 你好,请问下方便把详细推导文档分享下吗?谢谢! [email protected]
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