Question of kf.x

[HYD-PG]

Thank you very much for the open source code! It was very helpful for our study and validation of other methods with the help of related datasets. While studying the program, we found that it does not update the kf.x formula, which made me wonder if kf.x is always 0 in the program when it is set to the 0 matrix directly after the ErrorFeedback, and I also wondered if in the dataset, the truth value is obtained using post-processed GPS data, or the more accurate RTK data.

[wang-lq]

Once we get the updated error state, the error state is feedback, making the kf. x always 0. The truth value is obtained from the same GPS data in the demo dataset folders and the navigation-grade IMU data.