Is there a mistake on The Help document?

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Chengbin Wang
Chengbin Wang on 6 Sep 2020
Edited: Brian Fanous on 31 Mar 2021
On the "Algorithms", there is "
Is that wrong?

Answers (1)

Brian Fanous
Brian Fanous on 31 Mar 2021
Edited: Brian Fanous on 31 Mar 2021
See the diagram above the equations you’ve cited.
The linear acceleration is decayed from one iteration to the next by the decay factor v, and then the estimated error in the linear acceleration b+ is subtracted.
Similarly the gyroscope bias error estimate a+ is subtracted from the gyroscope bias estimate from the previous iteration to obtain a new gyroscope bias estimate.
To echo what Adam has said, if you feel you've found an error please reach out to tech support.

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