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Revert "added Imu parameter units to doc" 

This reverts commit 845b6c55b3.
release/4.3a0
Varun Agrawal 2020-12-01 12:02:44 -05:00
parent 31bf4b38ca
commit 1bf7588f72
2 changed files with 15 additions and 165 deletions
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180
doc/ImuFactor.lyx
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@ -1,5 +1,5 @@
#LyX 2.1 created this file. For more info see http://www.lyx.org/
\lyxformat 474
#LyX 2.0 created this file. For more info see http://www.lyx.org/
\lyxformat 413
\begin_document
\begin_header
\textclass article
@ -12,13 +12,13 @@
\font_roman default
\font_sans default
\font_typewriter default
\font_math auto
\font_default_family default
\use_non_tex_fonts false
\font_sc false
\font_osf false
\font_sf_scale 100
\font_tt_scale 100
\graphics default
\default_output_format default
\output_sync 0
@ -29,24 +29,15 @@
\use_hyperref false
\papersize default
\use_geometry true
\use_package amsmath 1
\use_package amssymb 1
\use_package cancel 1
\use_package esint 1
\use_package mathdots 1
\use_package mathtools 1
\use_package mhchem 1
\use_package stackrel 1
\use_package stmaryrd 1
\use_package undertilde 1
\use_amsmath 1
\use_esint 1
\use_mhchem 1
\use_mathdots 1
\cite_engine basic
\cite_engine_type default
\biblio_style plain
\use_bibtopic false
\use_indices false
\paperorientation portrait
\suppress_date false
\justification true
\use_refstyle 1
\index Index
\shortcut idx
@ -253,7 +244,7 @@ X(t)=\left\{ R_{0},P_{0}+V_{0}t,V_{0}\right\}
then the differential equation describing the trajectory is
\begin_inset Formula
\[
\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\,X(0)=\left\{ R_{0},P_{0},V_{0}\right\}
\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\, X(0)=\left\{ R_{0},P_{0},V_{0}\right\}
\]
\end_inset
@ -611,7 +602,7 @@ key "Iserles00an"
,
\begin_inset Formula
\begin{equation}
\dot{R}(t)=F(R,t),\,\,\,\,R(0)=R_{0}\label{eq:diffSo3}
\dot{R}(t)=F(R,t),\,\,\,\, R(0)=R_{0}\label{eq:diffSo3}
\end{equation}
\end_inset
@ -956,8 +947,8 @@ Or, as another way to state this, if we solve the differential equations
\begin_inset Formula
\begin{eqnarray*}
\dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}(t)\\
\dot{p}(t) & = & R_{0}^{T}\,V_{0}+v(t)\\
\dot{v}(t) & = & R_{0}^{T}\,g+R_{b}^{0}(t)a^{b}(t)
\dot{p}(t) & = & R_{0}^{T}\, V_{0}+v(t)\\
\dot{v}(t) & = & R_{0}^{T}\, g+R_{b}^{0}(t)a^{b}(t)
\end{eqnarray*}
\end_inset
@ -1024,7 +1015,7 @@ v(t)=v_{g}(t)+v_{a}(t)
evolving as
\begin_inset Formula
\begin{eqnarray*}
\dot{v}_{g}(t) & = & R_{i}^{T}\,g\\
\dot{v}_{g}(t) & = & R_{i}^{T}\, g\\
\dot{v}_{a}(t) & = & R_{b}^{i}(t)a^{b}(t)
\end{eqnarray*}
@ -1050,7 +1041,7 @@ p(t)=p_{i}(t)+p_{g}(t)+p_{v}(t)
evolving as
\begin_inset Formula
\begin{eqnarray*}
\dot{p}_{i}(t) & = & R_{i}^{T}\,V_{i}\\
\dot{p}_{i}(t) & = & R_{i}^{T}\, V_{i}\\
\dot{p}_{g}(t) & = & v_{g}(t)=R_{i}^{T}gt\\
\dot{p}_{v}(t) & = & v_{a}(t)
\end{eqnarray*}
@ -1105,7 +1096,7 @@ Predict the NavState
from
\begin_inset Formula
\[
X_{j}=\mathcal{R}_{X_{i}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\,p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\,v_{a}(t_{ij})\right\}
X_{j}=\mathcal{R}_{X_{i}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\, p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\, v_{a}(t_{ij})\right\}
\]
\end_inset
@ -1381,7 +1372,7 @@ B_{k}=\left[\begin{array}{c}
0_{3\times3}\\
R_{k}\frac{\Delta_{t}}{2}^{2}\\
R_{k}\Delta_{t}
\end{array}\right],\,\,\,\,C_{k}=\left[\begin{array}{c}
\end{array}\right],\,\,\,\, C_{k}=\left[\begin{array}{c}
H(\theta_{k})^{-1}\Delta_{t}\\
0_{3\times3}\\
0_{3\times3}
@ -1391,147 +1382,6 @@ H(\theta_{k})^{-1}\Delta_{t}\\
\end_inset
\end_layout
\begin_layout Subsubsection*
Units
\end_layout
\begin_layout Standard
The units of the IMU are as follows:
\end_layout
\begin_layout Standard
\begin_inset Tabular
<lyxtabular version="3" rows="5" columns="2">
<features rotate="0" tabularvalignment="middle">
<column alignment="center" valignment="top">
<column alignment="center" valignment="top">
<row>
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
Parameter
\end_layout
\end_inset
</cell>
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
Units
\end_layout
\end_inset
</cell>
</row>
<row>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
gyro_noise_sigma
\end_layout
\end_inset
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
\begin_inset Formula $rad/s/\sqrt{Hz}$
\end_inset
\end_layout
\end_inset
</cell>
</row>
<row>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
accel_noise_sigma
\end_layout
\end_inset
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
\begin_inset Formula $m/s^{2}/\sqrt{Hz}$
\end_inset
\end_layout
\end_inset
</cell>
</row>
<row>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
gyro_bias_rw_sigma
\end_layout
\end_inset
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
\begin_inset Formula $rad/s$
\end_inset
or
\begin_inset Formula $rad\sqrt{Hz}/s$
\end_inset
\end_layout
\end_inset
</cell>
</row>
<row>
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
accel_bias_rw_sigma
\end_layout
\end_inset
</cell>
<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text
\begin_layout Plain Layout
\begin_inset Formula $m/s^{2}$
\end_inset
or
\begin_inset Formula $m\sqrt{Hz}/s^{2}$
\end_inset
\end_layout
\end_inset
</cell>
</row>
</lyxtabular>
\end_inset
\end_layout
\begin_layout Standard

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doc/ImuFactor.pdf
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