xingyu_cxy的博客

先列一下公式。一周内会更新解释和说明Extended Kalman Filter：Choose an initial estimate X^0∣0\hat{X}_{0 \mid 0}X^0∣0​ and uncertainty matrix P0∣0P_{0 \mid 0}P0∣0​.Define Fn,GnF_{n}, G_{n}Fn​,Gn​, and HnH_{n}Hn​ :en∣n−1=Fnen−1∣n−1+GnwnYn−b(X^n∣n−1)=Hnen∣n−1+Vn\begin{align

q=q0+q1i+q2j+q3k{q}=q_{0}+q_{1} i+q_{2} j+q_{3} kq=q0​+q1​i+q2​j+q3​kq˙=q˙0+q˙1i+q˙2j+q˙3k\dot{q}=\dot{q}_{0}+\dot{q}_{1} i+\dot{q}_{2} j+\dot{q}_{3} kq˙​=q˙​0​+q˙​1​i+q˙​2​j+q˙​3​klim⁡t→0q(t+δt)−q(t)δt\quad\lim _{t \rightarrow 0} \frac{\mathrm{q}(t+\del