说明:ArduPilot 中用于EKF2公式推导的参考文档 Rotation Vector in Attitude EstimationPITTELKAU
Observe also that although a composition rule ( o 2 for
XI. Note that in both approaches the attitude perturbation is defined
otation vectors can be written(see Appendix), it <jms939372> 上传 | 大小:298kb