Fast-Lio论文中公式(6)与BCH公式中的近似雅可比公式是一致的,推导如下:
已知:
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\mu=\theta a,\theta=\lVert \mu \rVert, \lVert a \rVert =1
μ=θa,θ=∥μ∥,∥a∥=1
于是:
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(1)
\tag 1 \frac{{(\mu ^ \wedge)}^2}{{\lVert \mu \rVert}^2}=\frac{\theta ^ 2 a^ \wedge a^\wedge}{\theta ^ 2}=a a^T -I
∥μ∥2(μ∧)2=θ2θ2a∧a∧=aaT−I(1)
那么:
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\tag 6 A(\mu)^{-1}=I-\frac{u ^ \wedge} 2 + (1-\alpha ( \lVert \mu \rVert ) )\frac{{(\mu ^ \wedge)}^2}{{\lVert \mu \rVert}^2} \\ \alpha ( m) = \frac m 2 cot(\frac m 2) = \frac m 2 \frac {cos(m / 2)}{sin( m / 2)}
A(μ)−1=I−2u∧+(1−α(∥μ∥))∥μ∥2(μ∧)2α(m)=2mcot(2m)=2msin(m/2)cos(m/2)(6)
将(1)式代入(6)式,就有
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\begin{align} A(\mu)^{-1}&=I-\frac{u ^ \wedge} 2 + (1-\alpha ( \lVert \mu \rVert ) )(a a^T -I) \\ A(\mu)^{-1} &= I - \frac {\theta a ^ \wedge} 2 +(1-\frac \theta 2 cot(\frac \theta 2)) a a^T -( I - \frac \theta 2 cot(\frac \theta 2)I )\\ A(\mu)^{-1} & = \frac \theta 2 cot(\frac \theta 2)I + (1-\frac \theta 2 cot(\frac \theta 2)) a a^T - \frac \theta 2 a ^ \wedge \end{align}
A(μ)−1A(μ)−1A(μ)−1=I−2u∧+(1−α(∥μ∥))(aaT−I)=I−2θa∧+(1−2θcot(2θ))aaT−(I−2θcot(2θ)I)=2θcot(2θ)I+(1−2θcot(2θ))aaT−2θa∧
而BCH公式中的雅可比公式为:
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J_l^{-1} = \frac \theta 2 cot(\frac \theta 2)I + (1-\frac \theta 2 cot(\frac \theta 2)) a a^T - \frac \theta 2 a ^ \wedge
Jl−1=2θcot(2θ)I+(1−2θcot(2θ))aaT−2θa∧
两者一致。
2023-07-04 Fast-Lio论文中公式(6)与BCH公式中近似雅可比公式的一致性推导
于 2023-07-07 16:49:17 首次发布