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请问一下OB_GINS里面的NUM_STATE设置 #21

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hello299 opened this issue Aug 9, 2024 · 0 comments

hello299 commented Aug 9, 2024

您好，老师：
如果不考虑里程计的情况下待优化的状态变量为：

这个变量如果按照pos为3维度 q为4维度 v为3维度 bias_gyro为3维度 bias_acc为3维度考虑的话对应的NUM_STATE设置应该为16
但是在程序框架中设置的维度为15 请老师指导一下哪里存在问题

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