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Frank Dellaert 2015-10-10 13:48:52 -07:00
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#LyX 2.0 created this file. For more info see http://www.lyx.org/
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\begin_body
\begin_layout Title
The new IMU Factor
\end_layout
\begin_layout Author
Frank Dellaert
\end_layout
\begin_layout Standard
Let us assume a setup where frames with measurements are processed at some
fairly low rate, e.g., 10 Hz.
We define the state of the vehicle at those times as attitude, position,
and velocity.
These three quantities are referred to as a NavState, defining a 9-dimensional
manifold.
\end_layout
\begin_layout Standard
The goal of the IMU factor is to integrate IMU measurement between two successiv
e frames and create a binary factor between two NavStates.
\end_layout
\begin_layout Standard
The binary factor is set up as a prediction:
\begin_inset Formula
\[
X_{j}\approx X_{i}\oplus dX_{ij}
\]
\end_inset
where
\begin_inset Formula $dX_{ij}$
\end_inset
is a tangent vector in the tangent space
\begin_inset Formula $T_{i}$
\end_inset
to the manifold at
\begin_inset Formula $X_{i}$
\end_inset
.
\end_layout
\end_body
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