add a note in loc_kf (#23082)
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eda6993043
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@ -50,6 +50,8 @@ class States():
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CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2,
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ACCELEROMETER_SCALE = slice(29, 30) # scale of mems accelerometer
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ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer
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# We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET).
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# From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
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# Error-state has different slices because it is an ESKF
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ECEF_POS_ERR = slice(0, 3)
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@ -159,7 +161,6 @@ class LocKalman():
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glonass_bias = state[States.GLONASS_BIAS, :]
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glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :]
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ca = state[States.CLOCK_ACCELERATION, :]
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# accel_scale = state[States.ACCELEROMETER_SCALE, :]
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accel_bias = state[States.ACCELEROMETER_BIAS, :]
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dt = sp.Symbol('dt')
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