Modified Rodrigues Parameters Kalman Filter

1.系統模型 1.1 陀螺模型 ω ∗ = ω + b + η ω b ˙ = η b (1) \begin{aligned} \boldsymbol{\omega^{*}} &=\boldsymbol{\omega}+\boldsymbol{b}+\boldsymbol{\eta_{\omega}}\\ \boldsymbol{\dot{b}}&=\boldsymbol{\eta_{b}} \e

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