[AMR] More notes

2026-07-27 21:29:09 +02:00 · 2026-06-19 10:36:07 +02:00
parent 816b4b5942
commit cf41a61e6b
5 changed files with 63 additions and 57 deletions
@@ -1,3 +1,6 @@
 \subsection{Measurement models}
 $\vec{z} = \vec{b}_C + s\mat{M} {_S}\vec{\omega} + \vec{b} + \vec{n} + \vec{o}$:
 $\vec{b}_C$ const bias, $\vec{b}$ time bias, $\mat{M}$ missal., $\vec{n} \sim \cN(\vec{0}, \mat{R})$ noise, ${_S}\omega$ corr. meas., $\vec{o}$ other infl.
+
+\hl{Finding}: Is in $W$-frame, so may need $\mat{T}_{BW}$ or $\mat{R}_{BW}$.
+Other model: $\vec{z} = \vec{h}(\vec{x}) + \vec{v}$, $\vec{h}(\vec{x})$ is pos of rob. dep. model