Error State Extended Kalman Filter (ES-EKF)
ES-EKF 的优点
1.The orientation error-state is minimal (i.e., it has the same number of parameters as degrees of freedom), avoiding issues related to over-parametrization (or redundancy) and the consequent risk of singularity of the involved covariances matr
原创
2021-07-15 16:39:42 ·
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