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Added clarification

release/4.3a0
Frank Dellaert 2024-06-08 16:11:07 -07:00
parent 50021ed6d5
commit 344a36c568
1 changed files with 4 additions and 2 deletions
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6
gtsam/navigation/AHRSFactor.cpp
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@ -54,8 +54,10 @@ void PreintegratedAhrsMeasurements::integrateMeasurement(
PreintegratedRotation::integrateMeasurement(measuredOmega, PreintegratedRotation::integrateMeasurement(measuredOmega,
biasHat_, deltaT, &D_incrR_integratedOmega, &Fr); biasHat_, deltaT, &D_incrR_integratedOmega, &Fr);
// first order uncertainty propagation // First order uncertainty propagation
// the deltaT allows to pass from continuous time noise to discrete time noise // The deltaT allows to pass from continuous time noise to discrete time
// noise. Comparing with the IMUFactor.cpp implementation, the latter is an
// approximation for C * (wCov / dt) * C.transpose(), with C \approx I * dt.
preintMeasCov_ = Fr * preintMeasCov_ * Fr.transpose() + p().gyroscopeCovariance * deltaT; preintMeasCov_ = Fr * preintMeasCov_ * Fr.transpose() + p().gyroscopeCovariance * deltaT;
} }