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hku-mars / IKFoM

A computationally efficient and convenient toolkit of iterated Kalman filter.

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Question about Eq. (60)

gyubeomim opened this issue · comments

commented

Hello, Author

Your paper is really informative and helpful to understand Iterated error-state Kalman filter 👍

I have one question while reading your paper's eq. (60).
image

As far as I know, A(.) matrix is the Right Jacobian of SO(3). Then below formulas will meet.
image

But IKFoM paper uses A^T instead of A matrix. I looked for the paper [38] you referred but I couldn't find the clue of it. Is it a correct way to derivate like A^T instead of A?

Thanks in advance!