Navigation docs #1856
Merged
Navigation docs #1856
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Member
dellaert
commented
Sep 30, 2024
dellaert
commented
- Generated explainer for attitude factor with o1-preview
- Edited above heavily
- Added README
- Updated IMU Factor reference
andre-michelin
approved these changes
Oct 30, 2024
| * This factor enforces that when a known reference direction in the body frame | ||
| * (e.g., accelerometer axis) is rotated into the navigation frame using the | ||
| * rotation variable, it should align with a measured direction in the | ||
| * navigation frame (e.g., gravity vector). |
There was a problem hiding this comment.
What is confusing here is the choice of ref / measured:
- one would expect the direction read from the accelerometer (in body) to be measured, and the known gravity direction in nav to be ref
There was a problem hiding this comment.
OK. This was a big change, but I switched all the mentions of reference and measured. I agree it is much more clear and even the tests had "measurement" in quotes.
|
|
||
| ### Jacobians | ||
|
|
||
| For optimization, the $2 \times 3$ Jacobian of the error function with respect to the rotation parameters is required. The Jacobian is computed using chain rule differentiation, involving the derivative of the rotated vector with respect to the rotation parameters and the derivative of the error with respect to the rotated vector. |
There was a problem hiding this comment.
Maybe a mention here of the singularity we found w.r.t. the Jacobian, which also vanishes 180 degrees away from the true direction (because it is calculated in the tangent space?)
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.