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零速修正对精度的提升大吗，零速修正只能对当前时刻和前一时刻进行约束，无法对累计误差进行修正。 #17

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RobotYi1 opened this issue Dec 14, 2022 · 1 comment

RobotYi1 commented Dec 14, 2022

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zhh2005757 commented Sep 26, 2023

零速修正可以减缓后续的发散，因为可以修正IMU零偏

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